hexapod.hh

#ifndef ROBOT_HEXAPOD_HPP
#define ROBOT_HEXAPOD_HPP
#include "robot/robot.hh"
#include "ode/environment_hexa.hh"
namespace robot {
    class Hexapod : public Robot {
    public:
        Hexapod(ode::Environment_hexa& env, const Eigen::Vector3d& pos, std::vector<int> brokenLegs) : _brokenLegs(brokenLegs)
        {

            _build(env, pos);

            /*std::cout<<_bodies.size()<<std::endl;
	    for(int i=0; i<_bodies.size();i++)
	    std::cout<< _bodies[i]->get_pos()<<std::endl;*/
        }
        Hexapod(const Hexapod& o, ode::Environment_hexa& env) : Robot(o, env)
        {

            for (size_t i = 1; i < _bodies.size(); i++) {
                env.add_leg_object((i - 1) / 3, *_bodies[i]);
            }
        }
        boost::shared_ptr<Hexapod> clone(ode::Environment_hexa& env) const
        {

            return boost::shared_ptr<Hexapod>(new Hexapod(*this, env));
        }

    protected:
        std::vector<int> _brokenLegs;
        void _build(ode::Environment_hexa& env, const Eigen::Vector3d& pos);
    };
}

#endif