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/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : SimulatorOutput.h                                             */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 02/07/2000                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
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/* Modification History:                                                    */
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#ifndef _SIMULATOROUTPUT_H
#define _SIMULATOROUTPUT_H

#include "SharedData.h"

#define SimulatorOutputName "simulatorOutput"

/*
CLASS 
SimulatorOutput

DESCRIPTION
SharedData interface between SimulatorServer and Simulator

AUTHOR
Tom O'Reilly
*/
class SimulatorOutput : public SharedData {

public:

  SimulatorOutput(Access access = NoAccess,
		  Boolean init = False);

  ~SimulatorOutput();

  struct Data {
    Data();
    double position[3];
    double eulerAngles[3];
    double rotationalVelocity[3];
    double rotationalBackDiff[3];
    double translationalVelocity[3];
    double translationalBackDiff[3];
    double rudder;
    double elevator;
    double force[3];
    double torque[3];
    double propSpeed;
  };

  ////////////////////////////////////////////////////////////////////
  // Read Simulator output from shared memory
  void read(Data *data);

  ////////////////////////////////////////////////////////////////////
  // Write Simulator output to shared memory
  void write(Data *data);

};

#endif