hexapod.hh

//| This file is a part of the ERC ResiBots project.
//| Copyright 2015, ISIR / Universite Pierre et Marie Curie (UPMC)
//| Main contributor(s): Jean-Baptiste Mouret, mouret@isir.fr
//|                      Antoine Cully, cully@isir.upmc.fr
//|
//| This software is governed by the CeCILL license under French law
//| and abiding by the rules of distribution of free software.  You
//| can use, modify and/ or redistribute the software under the terms
//| of the CeCILL license as circulated by CEA, CNRS and INRIA at the
//| following URL "http://www.cecill.info".
//|
//| As a counterpart to the access to the source code and rights to
//| copy, modify and redistribute granted by the license, users are
//| provided only with a limited warranty and the software's author,
//| the holder of the economic rights, and the successive licensors
//| have only limited liability.
//|
//| In this respect, the user's attention is drawn to the risks
//| associated with loading, using, modifying and/or developing or
//| reproducing the software by the user in light of its specific
//| status of free software, that may mean that it is complicated to
//| manipulate, and that also therefore means that it is reserved for
//| developers and experienced professionals having in-depth computer
//| knowledge. Users are therefore encouraged to load and test the
//| software's suitability as regards their requirements in conditions
//| enabling the security of their systems and/or data to be ensured
//| and, more generally, to use and operate it in the same conditions
//| as regards security.
//|
//| The fact that you are presently reading this means that you have
//| had knowledge of the CeCILL license and that you accept its terms.

#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);
        }
        Hexapod(const Hexapod &o, ode::Environment_hexa & env) :
                Robot(o, env)
        {
	 
	  for(int 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