text: /*
   * Copyright (c) 2011-2019, The DART development contributors
   * All rights reserved.
   *
   * The list of contributors can be found at:
   *   https://github.com/dartsim/dart/blob/master/LICENSE
   *
   * This file is provided under the following "BSD-style" License:
   *   Redistribution and use in source and binary forms, with or
   *   without modification, are permitted provided that the following
   *   conditions are met:
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
   *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
   *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
   *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *   POSSIBILITY OF SUCH DAMAGE.
   */
  
  #ifndef DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONWORLDNODE_HPP_
  #define DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONWORLDNODE_HPP_
  
  #include <dart/dart.hpp>
  #include <dart/utils/utils.hpp>
  #include <dart/gui/osg/osg.hpp>
  
  #include "Controller.hpp"
  
  class AtlasSimbiconWorldNode : public dart::gui::osg::RealTimeWorldNode
  {
  public:
    /// Constructor
    AtlasSimbiconWorldNode(const dart::simulation::WorldPtr& world,
                           const dart::dynamics::SkeletonPtr& atlas);
  
    // Documentation inherited
    void customPreStep() override;
  
    void reset();
  
    void pushForwardAtlas(double force = 500, int frames = 100);
    void pushBackwardAtlas(double force = 500, int frames = 100);
    void pushLeftAtlas(double force = 500, int frames = 100);
    void pushRightAtlas(double force = 500, int frames = 100);
  
    void switchToNormalStrideWalking();
    void switchToShortStrideWalking();
    void switchToNoControl();
  
  protected:
    std::unique_ptr<Controller> mController;
    Eigen::Vector3d mExternalForce;
    int mForceDuration;
  };
  
  #endif // DART_EXAMPLE_OSG_OSGATLASSIMBICON_ATLASSIMBICONWORLDNODE_HPP_
  