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Hormodular 1.0
Locomotion gait discovery by using digital hormones on modular robots
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ModularRobot.h
00001 //------------------------------------------------------------------------------ 00002 //-- ModularRobot 00003 //------------------------------------------------------------------------------ 00004 //-- 00005 //-- Modular robot for modular robotics 00006 //-- 00007 //------------------------------------------------------------------------------ 00008 //-- 00009 //-- This file belongs to the Hormodular project 00010 //-- (https://github.com/David-Estevez/hormodular.git) 00011 //-- 00012 //------------------------------------------------------------------------------ 00013 //-- Author: David Estevez-Fernandez 00014 //-- 00015 //-- Released under the GPL license (more info on LICENSE.txt file) 00016 //------------------------------------------------------------------------------ 00017 00024 #ifndef MODULAR_ROBOT_H 00025 #define MODULAR_ROBOT_H 00026 00027 #include "ConfigParser.h" 00028 #include "Module.hpp" 00029 #include "ModularRobotInterface.hpp" 00030 #include "ModularRobotInterfaceFactory.hpp" 00031 00032 namespace hormodular { 00033 00043 class ModularRobot 00044 { 00045 public: 00053 ModularRobot(ConfigParser configParser, std::string robotInterfaceType="simulated"); 00054 ~ModularRobot(); 00055 00056 00057 00063 bool run(unsigned long runTime); 00064 00072 bool reset(); 00073 00074 00075 bool setTimeStep(float step_ms); 00076 bool setProperty(std::string property, std::string value); 00077 00078 float getTravelledDistance(); 00079 00080 static const int COMMUNICATION_PERIOD_MS = 100; 00081 00082 private: 00091 bool attachModules(); 00092 00093 ConfigParser configParser; 00094 std::vector<Module *> modules; 00095 ModularRobotInterface * robotInterface; 00096 00098 unsigned long elapsed_time; 00099 00101 float step_ms; 00102 00103 std::vector<float> joint_values; 00104 }; 00105 } 00106 #endif //-- MODULAR_ROBOT_H
