/************************TRICK HEADER*************************
PURPOSE:
    ( Simulate kinematic, planar 2 degree-of-freedom manipulator )
LIBRARY DEPENDENCIES:
    (
        (manipulator/manipulator.cc)
    )
*************************************************************/
#define TRICK_NO_MONTE_CARLO
#define TRICK_NO_MASTERSLAVE
#define TRICK_NO_INSTRUMENTATION
#define TRICK_NO_REALTIMEINJECTOR
#define TRICK_NO_ZEROCONF
#include "sim_objects/default_trick_sys.sm"

##include "include/trick/exec_proto.h"
##include "manipulator/manipulator.hh"

class ManipulatorSimObject : public Trick::SimObject
{

    public:
        PlanarManip robot;

        ManipulatorSimObject(int ndof): robot(ndof)
        {
            (0.050, "scheduled")  robot.calcKinematics();
            (0.050, "scheduled")  robot.control();
            ("derivative")        robot.stateDeriv();
            ("integration")       trick_ret = robot.updateState();
        }

};

ManipulatorSimObject Manip2D(2);

IntegLoop armIntegLoop(0.050) Manip2D;