Firstly I want to thank you for the help and guidance for our querries. I wish to implement a hierarchical controller in DART. Firstly, I have a simplified model and then a complete model. For a simplified model, I want to send my center of mass to a complete model. I am using GLUT for visualization of my dynamics. I know how to create another world within the given world and add my simplified model to it( considering I am visualizing the complete model). However, I am not sure how to call timeStepping override function within it to get a future reference.
In addition, any help in answering the follow
a) Can we visualize two worlds by switching between the two?
b) How can we call the simplified world to give me reference reading (which means the time of simplified model world should be in the future), considering I have just one timeStepping override function representing the complete model?
Any help will be appreciated.