ControllerIO.h

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#ifndef CNOID_BODY_CONTROLLER_IO_H
#define CNOID_BODY_CONTROLLER_IO_H
 
#include "Body.h"
#include "exportdecl.h"
 
namespace cnoid {
 
class Mapping;
typedef ref_ptr<Mapping> MappingPtr;
 
class CNOID_EXPORT ControllerIO
{
public:
    virtual ~ControllerIO();
 
    virtual std::string controllerName() const = 0;
    virtual Body* body() = 0;
    virtual std::string optionString() const;
    std::vector<std::string> options() const;
    MappingPtr structuredOptions() const;
    virtual std::ostream& os() const;
    virtual double timeStep() const;
    virtual double currentTime() const;
 
    // Call this function in the controller's initialization function to enable logging
    virtual bool enableLog();
 
    virtual void outputLog(Referenced* logData);
    
    // The following functions are only available in simulation
    virtual bool isNoDelayMode() const;
    virtual bool setNoDelayMode(bool on);
 
    double worldTimeStep() const { return timeStep(); };
 
protected:
    std::string getIntegratedOptionString(const std::string& opt1, const std::string& opt2) const;
};
 
}
 
#endif