9.5 BodyModel

BodyModel contains all the information regarding individual agents(simualted robots) current state. This is the information relating to :

• All Joint Angles
• All Joint Positions
• Gyro Information
• Set of Effectors for each joint

It also contains the definition of all the methods required for the intialisation of a nao simulation robot as well as the methods that, at a low level, are used to control the agents. All these methods and objects can be found in bodymodel.h and bodymodel.cc