Robot.h

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#ifndef ROBOT_H_INCLUDED
#define ROBOT_H_INCLUDED
#include <vector>

#include "InputDevice.h"
#include "Joint.h"
#include "TrajectoryGenerator.h"
using namespace std;

class Robot {
   protected:
    vector<Joint *> joints;

    vector<InputDevice *> inputs;
    TrajectoryGenerator *trajectoryGenerator;

   public:
    //Setup
    Robot(TrajectoryGenerator *tj);
    ~Robot();
    bool initialise();
    virtual bool initialiseJoints() = 0;
    virtual bool initialiseInputs() = 0;
    virtual bool initialiseNetwork() = 0;

    //Robot objects

    //Core  functions
    virtual void updateRobot();
    void printStatus();
    void getJointStatus(int J_i);


    void initialiseLog();
    void logDataPoint(std::string data);
    bool closeLog();
};

#endif  //ROBOT_H