device_simulator.hh

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#ifndef DEVICE_SIMULATOR_HH
#define DEVICE_SIMULATOR_HH

#include <yaml-cpp/yaml.h>

#include <dynamic-graph/entity.h>
#include <dynamic_graph_manager/device.hh>

namespace dynamic_graph
{
class DeviceSimulator : public dynamic_graph::Device
{
public:
    static const std::string CLASS_NAME;

    DeviceSimulator(const std::string& input_name);

    ~DeviceSimulator()
    {
    }

    virtual void initialize(const YAML::Node& params);

    virtual void initialize_from_file(const std::string& yaml_file);

    virtual void execute_graph();

    DeviceOutSignalMap simu_motor_controls_out_;

    DeviceInSignalMap simu_sensors_in_;
};

}  // namespace dynamic_graph

#endif /* #ifndef DEVICE_SIMULATOR_HH */