Aggiunta Collections per ridurre dimensione main

src/collections/methods/gamba.cpp

@@ -0,0 +1,46 @@
+#include "../headers/gamba.hpp"
+
+Gamba::Gamba(rb::Vector3 pos, unsigned int* dataPos, std::string cosciaData, std::string cavigliaData){
+    CSVProcessor processor;
+    try {
+        processor.readCSVFile (DATA_PATH + "coscia_filt.csv");
+        const auto& coscia = processor.getData();
+        processor.readCSVFile(DATA_PATH + "caviglia_filt.csv");
+        const auto& caviglia = processor.getData();
+
+        pezzi.push_back(new Coscia(pos,2));
+        pezzi.push_back(new Caviglia(rb::Vector3{pos[0],pos[1],pos[3]+200},2));
+
+        sensori.push_back(new Sensore(pos,_Float16( 0.2 ),dataPos,coscia));
+        sensori.push_back(new Sensore (rb::Vector3{pos[0],pos[1],pos[3]+200},_Float16( 0.2 ),dataPos,caviglia));
+
+        // modifico la rotazione relativa della gamba
+        sensori[0]->body.setRot({_Float16 (1.3),_Float16 (1.7),0});
+        sensori[1]->body.setRot({_Float16 (1.8),_Float16 (1.7),0});
+
+        joints.push_back(new RigidJoint(sensori[0], {pezzi[0]}));
+        joints.push_back(new PivotJoint(sensori[0], {sensori[1]}, rb::Vector3{0,0,100}));
+        joints.push_back(new RigidJoint(sensori[1], {pezzi[1]}));
+
+    }
+    catch(char* e){
+        throw sprintf("Gamba ERROR : %s\n",e);
+    }
+
+}
+
+collection Gamba::create(ReferencePlane plane){
+    collection coll;
+    for(auto e : pezzi){
+        coll.pieces.push_back(e);
+    }
+    for(auto e : sensori){
+        coll.pieces.push_back(e);
+    }
+
+    for(auto j : joints){
+        coll.joints.push_back(j);
+    }
+
+    return coll;
+}