/*
 * Copyright (C) 2017 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef GZ_PHYSICS_TEST_MOCKDOUBLEPENDULUM_HH_
#define GZ_PHYSICS_TEST_MOCKDOUBLEPENDULUM_HH_

#include <gz/physics/FeatureList.hh>
#include <gz/physics/ForwardStep.hh>
#include <gz/physics/GetEntities.hh>
#include <gz/physics/CanWriteData.hh>

namespace mock
{
  using MockDoublePendulumList = ignition::physics::FeatureList<
    ignition::physics::ForwardStep,
    ignition::physics::GetEngineInfo,
    ignition::physics::GetWorldFromEngine
  >;

  class MockDoublePendulum
      : public ignition::physics::CanWriteRequiredData<
            MockDoublePendulum,
            ignition::physics::ForwardStep::Output>
  {
    public: virtual void Write(ignition::physics::JointPositions &_positions) const = 0;

    /// \brief Write poses for each link in inertial frame (at COM).
    public: virtual void Write(ignition::physics::WorldPoses &_poses) const = 0;

    public: virtual ~MockDoublePendulum() = default;
  };
}

#endif
