Added support for online update of actuator/light origin frame. Reimp…

…lemented parsing of actuators for better extension capabilities.

Library/include/actuators/Light.h

@@ -98,7 +98,7 @@ namespace sf
         std::vector<Renderable> Render();
 
 		//! A method returning actuator frame in the world frame.
-		Transform getActuatorFrame();
+		Transform getActuatorFrame() const;
 
         //! A method returning the type of the actuator.
         ActuatorType getType();

Library/include/actuators/LinkActuator.h

@@ -20,7 +20,7 @@
 //  Stonefish
 //
 //  Created by Patryk Cieślak on 23/11/2018.
-//  Copyright (c) 2018-2020 Patryk Cieslak. All rights reserved.
+//  Copyright (c) 2018-2021 Patryk Cieslak. All rights reserved.
 //
 
 #ifndef __Stonefish_LinkActuator__
@@ -52,8 +52,14 @@ namespace sf
 		//! A method implementing the rendering of the actuator.
         virtual std::vector<Renderable> Render();
 
+        //! A method used to set the actuator origin frame.
+        /*!
+         \param origin a transformation from teh body origin to the actuator origin
+         */
+        void setRelativeActuatorFrame(const Transform& origin);
+
         //! A method returning actuator frame in the world frame.
-        virtual Transform getActuatorFrame();
+        virtual Transform getActuatorFrame() const;
 
     protected:
         SolidEntity* attach;

Library/include/core/ScenarioParser.h

@@ -173,21 +173,21 @@ namespace sf
          */
         virtual bool ParseJoint(XMLElement* element, Robot* robot);
 
-        //! A method used to parse a single robot sensor description.
+        //! A method used to parse a single robot actuator description.
         /*!
          \param element a pointer to the XML node
          \param robot a pointer to the robot object
          \return success
          */
-        virtual bool ParseSensor(XMLElement* element, Robot* robot);
+        virtual bool ParseActuator(XMLElement* element, Robot* robot);
 
-        //! A method used to parse a single robot actuator description.
+        //! A method used to parse a single robot sensor description.
         /*!
          \param element a pointer to the XML node
          \param robot a pointer to the robot object
          \return success
          */
-        virtual bool ParseActuator(XMLElement* element, Robot* robot);
+        virtual bool ParseSensor(XMLElement* element, Robot* robot);
 
         //! A method used to parse a description of a sensor attached to single body or world.
         /*!
@@ -197,6 +197,14 @@ namespace sf
          */
         virtual bool ParseSensor(XMLElement* element, Entity* ent = nullptr);
 
+        //! A method used to parse a description of an actuator.
+        /*!
+         \param element a pointer to the XML node
+         \param namePrefix a string added at the beginning of the actuator name
+         \return pointer to actuator
+         */
+        virtual Actuator* ParseActuator(XMLElement* element, const std::string& namePrefix);
+
         //! A method used to parse a description of a sensor.
         /*!
          \param element a pointer to the XML node

Library/src/actuators/Light.cpp

@@ -58,7 +58,7 @@ ActuatorType Light::getType()
     return ActuatorType::LIGHT;
 }
 
-Transform Light::getActuatorFrame()
+Transform Light::getActuatorFrame() const
 {
 	if(attach != nullptr)
         return attach->getOTransform() * o2a; //Solid

Library/src/actuators/LinkActuator.cpp

@@ -35,8 +35,13 @@ LinkActuator::LinkActuator(std::string uniqueName) : Actuator(uniqueName)
     attach = nullptr;
     o2a = I4();
 }
-
-Transform LinkActuator::getActuatorFrame()
+
+void LinkActuator::setRelativeActuatorFrame(const Transform& origin)
+{
+    o2a = origin;
+}
+
+Transform LinkActuator::getActuatorFrame() const
 {
     if(attach != nullptr)
         return attach->getOTransform() * o2a;