#ifndef MINITAUR_SIMULATION_SETUP_H
#define MINITAUR_SIMULATION_SETUP_H

#include "LinearMath/btVector3.h"
#include "LinearMath/btQuaternion.h"
class MinitaurSetup
{
	struct MinitaurSetupInternalData* m_data;
	void resetPose(class b3RobotSimulatorClientAPI_NoGUI* sim);

public:
	MinitaurSetup();
	virtual ~MinitaurSetup();

	int setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const class btVector3& startPos = btVector3(0, 0, 0), const class btQuaternion& startOrn = btQuaternion(0, 0, 0, 1));

	void setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque = 3, double kp = 0.1, double kd = 0.9);
};
#endif  //MINITAUR_SIMULATION_SETUP_H