TerminalCondition.hpp

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#ifndef EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_
#define EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_

#include <string>
#include <vector>

#include <Eigen/Dense>

#include <dart/dart.hpp>

class State;

//==============================================================================
class TerminalCondition
{
public:
  TerminalCondition(State* _state);

  virtual ~TerminalCondition();

  virtual bool isSatisfied() = 0;

protected:
  State* mState;
};

//==============================================================================
class TimerCondition : public TerminalCondition
{
public:
  TimerCondition(State* _state, double _duration);

  virtual ~TimerCondition();

  // Documentation inherited.
  bool isSatisfied() override;

protected:
  double mDuration;
};

//==============================================================================
class BodyContactCondition : public TerminalCondition
{
public:
  BodyContactCondition(State* _state, dart::dynamics::BodyNode* _body);

  virtual ~BodyContactCondition();

  // Documentation inherited.
  bool isSatisfied() override;

protected:
  dart::dynamics::BodyNode* mBodyNode;
};

#endif // EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_