Leg.h

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/***************************************************************************
                          Leg.h  -  description
                             -------------------
    begin                : mer jun 08 2003
    copyright            : (C) 2003 by Michel Dubois, Yann Le Guyadec
    email                : Michel.Dubois@univ-ubs.fr, Yann.Le-Guyadec@univ-ubs.fr
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   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.                                   *
 *                                                                         *
 ***************************************************************************/

// Modele statique
/*
  * changes :
  *  - 08/06/03 MD Creation !
  */


#ifndef __LEG__
#define __LEG__


// Include files
#include "nommgr.h"
#include <string>
#include "mmgr.h"

#include <SimLeg.h>
#include <RigidBodyEntity.h>
#include <Node.h>
#include "Atom.h"
#include "CartesianPosition.h"
#include "ForceSensor.h"
#include "IRReceiver.h"
#include "IRSender.h"
#include "ServoMotor.h"
#include "SphericPosition.h"
#include "TouchSensor.h"
#include "Link.h"
class SimLeg;

namespace API {
  
  class ServoMotor;
  class Atom;
  class ForceSensor;
  class TouchSensor;
  class IRReceiver;
  class Leg
  {
    class Util;
    friend class Util;
    friend class Atom;
    friend class Link;    
    private:
      //SimLeg * simleg;
      ServoMotor * lservo[2];
        IRSender * lirsend;
        IRReceiver * lirreceiver;
        ForceSensor * lforce[3];

        TouchSensor * ltouch;
      int ID;
      Atom * atom;
      int MappedID;
      Link * linkOfLeg ;
    public:
      class Util {
        friend class Leg;
        friend class Atom;
        private:
          Leg * leg;
          SimLeg * simleg;
          Util(Leg * aLeg);
          ~Util();
        public:

          void setSphericPosition(SphericPosition aSphericPosition);

          void link(Leg * aLeg);

          SimLeg * getSimulatedObject() const;

          bool isConnectable(Leg * aLeg) const;

          bool isOnGround() const;
          
          void print() const;

      };

      Util * util;
protected :

      Leg(Atom * anAtom, int LegID);

      virtual ~Leg();
public:

      int getID() const;
      
        int getMappedID() const;

      Atom * getAtom() const;
      
      SphericPosition& getSphericPosition() const;

        CartesianPosition& getRelCartesianPosition() const;

      Leg * getLinkedLeg();

      Link * getLink() const;

      std::string  getMessage();
      ServoMotor * getServoMotor(unsigned int aServoMotorID) const;

      ForceSensor * getForceSensor(unsigned int aForceSensorID) const;

      TouchSensor * getTouchSensor() const;
      
        IRReceiver * getIRReceiver() const;
      
        IRSender * getIRSender() const;

      bool isLinked() const;
      
        void setLink(Leg * aLeg);

      void sendMessage(std::string aMessage);
      
        void unlink();

      void stop();

      unsigned int getServoMotorCount() const;

      unsigned int getForceSensorCount() const;

    protected:
        void setID(int aLegID);

      void setMappedID(int aMappedID);

        void setAtom(Atom * anAtom);

  };// END CLASS DEFINITION Leg
}
#endif // __LEG__

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