vpRobotSimulator.h

/****************************************************************************
 *
 * $Id: vpRobotSimulator.h 4056 2013-01-05 13:04:42Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Basic class used to make robot simulators.
 *
 * Authors:
 * Nicolas Melchior
 *
 *****************************************************************************/

#ifndef vpRobotSimulator_HH
#define vpRobotSimulator_HH

#include <visp/vpConfig.h>
#include <visp/vpRobot.h>
#include <visp/vpTime.h>
#include <visp/vpVelocityTwistMatrix.h>


class VISP_EXPORT vpRobotSimulator : public vpRobot
{
protected:
  double delta_t_; // sampling time in second

public:
  vpRobotSimulator();
  virtual ~vpRobotSimulator() {};

  inline double getSamplingTime() const
  {
    return(this->delta_t_);
  }

  virtual inline void setSamplingTime(const double &delta_t)
  {
    this->delta_t_ = delta_t;
  }
};

#endif