BasicSensorSimulationHelper.h

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#ifndef CNOID_BODY_BASIC_SENSOR_SIMULATION_HELPER_H
#define CNOID_BODY_BASIC_SENSOR_SIMULATION_HELPER_H
 
#include "DeviceList.h"
#include "ForceSensor.h"
#include "RateGyroSensor.h"
#include "AccelerationSensor.h"
#include "exportdecl.h"
 
namespace cnoid {
 
class Body;
 
class CNOID_EXPORT BasicSensorSimulationHelper
{
public:
    BasicSensorSimulationHelper();
    ~BasicSensorSimulationHelper();
 
    void setOldAccelSensorCalcMode(bool on);
    
    void initialize(Body* body, double timeStep, const Vector3& gravityAcceleration);
 
    bool isActive() const { return isActive_; }
    bool hasGyroOrAccelerationSensors() const { return !rateGyroSensors_.empty() || !accelerationSensors_.empty(); }
 
    const DeviceList<ForceSensor>& forceSensors() const { return forceSensors_; }
    const DeviceList<RateGyroSensor>& rateGyroSensors() const { return rateGyroSensors_; }
    const DeviceList<AccelerationSensor>& accelerationSensors() const { return accelerationSensors_; }
        
    void updateGyroAndAccelerationSensors();
 
private:
    bool isActive_;
    DeviceList<ForceSensor> forceSensors_;
    DeviceList<RateGyroSensor> rateGyroSensors_;
    DeviceList<AccelerationSensor> accelerationSensors_;
 
    class Impl;
    Impl* impl;
};
 
}
 
#endif