AtlasSimbiconWorldNode.hpp

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#ifndef DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONWORLDNODE_HPP_
#define DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONWORLDNODE_HPP_

#include <dart/dart.hpp>

#include "Controller.hpp"

class AtlasSimbiconWorldNode : public dart::gui::osg::RealTimeWorldNode
{
public:
  AtlasSimbiconWorldNode(
      const dart::simulation::WorldPtr& world,
      const dart::dynamics::SkeletonPtr& atlas);

  // Documentation inherited
  void customPreStep() override;

  void reset();

  void pushForwardAtlas(double force = 500, int frames = 100);
  void pushBackwardAtlas(double force = 500, int frames = 100);
  void pushLeftAtlas(double force = 500, int frames = 100);
  void pushRightAtlas(double force = 500, int frames = 100);

  void switchToNormalStrideWalking();
  void switchToShortStrideWalking();
  void switchToNoControl();

  void showShadow();
  void hideShadow();

protected:
  std::unique_ptr<Controller> mController;
  Eigen::Vector3d mExternalForce;
  int mForceDuration;
};

#endif // DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONWORLDNODE_HPP_