DatabaseUtils.hpp

/* This file is part of scl, a control and simulation library
for robots and biomechanical models.

scl is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.

Alternatively, you can redistribute it and/or
modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of
the License, or (at your option) any later version.

scl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License and a copy of the GNU General Public License along with
scl. If not, see <http://www.gnu.org/licenses/>.
*/
/* \file DatabaseUtils.hpp
 *
 *  Created on: Aug 4, 2010
 *
 *  Copyright (C) 2010
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef DATABASEUTILS_HPP_
#define DATABASEUTILS_HPP_

#include <scl/DataTypes.hpp>
#include <scl/data_structs/SRigidBody.hpp>
#include <scl/data_structs/SGcModel.hpp>
#include <scl/control/task/data_structs/SControllerMultiTask.hpp>

#include <string>

namespace scl_util
{

  void printRobotLinkTree(const scl::SRigidBody &link, scl::sInt depth);

  int initMultiTaskCtrlDsFromParsedTasks(
      const std::vector<scl::STaskBase*> &arg_taskvec,
      const std::vector<scl::SNonControlTaskBase*> &arg_taskvec_nc,
      scl::SControllerMultiTask& arg_ctrl);

  bool initDynRobotFromParsedRobot(sutil::CMappedTree<std::string, scl::SRigidBodyDyn>& arg_rbd_tree,
      const sutil::CMappedTree<std::string, scl::SRigidBody>& arg_rb_tree);

  scl::sBool isMuscleCompatWithRobot(const std::string& arg_msys,
      const std::string& arg_robot);
}

#endif /* DATABASEUTILS_HPP_ */