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Simulator.hh

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/* Desc: The Simulator; Top level managing object
 * Author: Jordi Polo
 * Date: 3 Jan 2008
 */

#ifndef SIMULATOR_HH
#define SIMULATOR_HH

#include <string>

#include "SingletonT.hh"

namespace gazebo
{

// Forward declarations
  class Gui;
  class Server;
  class SimulationIface;
  class XMLConfig;
  class XMLConfigNode;

/*
 * Top level class: Takes care of World Gui SimulatorIface and Server
 * 
 */
  class Simulator : public SingletonT<Simulator>
  {
    private: Simulator();

    private: ~Simulator();

    public: void Close();

    public: void Load(const std::string &worldFileName, unsigned int serverId );

    public: void Save(const std::string& filename=std::string());

    public: int Init( );

    public: void Fini( );

    public: void MainLoop();

    public: Gui *GetUI();

    public: bool IsPaused() const;

    public: unsigned long GetIterations();
/*
    public: static void SetIterations(unsigned long count);

    public: static void IncIterations();
*/
    public: double GetSimTime() const;

    public: double GetPauseTime() const;

    public: double GetStartTime() const;

    public: double GetRealTime() const;

    public: double GetWallTime() const;

    public: void LoadGui(XMLConfigNode *rootNode);
    public: void SaveGui(XMLConfigNode *node);


    //User Iteractions
    public: void SetUserQuit();

    public: bool GetUserPause();

    public: void SetUserPause(bool pause);
    
    public: bool GetUserStep();

    public: void SetUserStep( bool step );

    public: bool GetUserStepInc();

    public: void SetUserStepInc(bool step);

  
    private:gazebo::XMLConfig *xmlFile;

    private: Gui *gui;


    private: bool loaded;

    private: bool pause;

    private: unsigned long iterations;

    private: double simTime, pauseTime, startTime;
    private: double prevPhysicsTime, prevRenderTime;

    // UserIteractions 
    private: bool userPause;

    private: bool userStep;

    private: bool userStepInc;

    //The user has somewhat signaled the end of the program
    private: bool userQuit;

    //Singleton implementation
    private: friend class DestroyerT<Simulator>;
    private: friend class SingletonT<Simulator>;
};

}

#endif

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Last updated Aug 04 2007