Robot Simulator of the Robotics Group for Self-Organization of Control: wiringsequence.h Source File

# wiringsequence.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __WIRINGSEQUENCE_H
    00025 #define __WIRINGSEQUENCE_H
    00026
    00027 #include "abstractwiring.h"
    00028 #include <vector>
    00029
    00030 /** Implements a sequence of wirings
    00031  */
    00032 class WiringSequence :public AbstractWiring{
    00033 public:
    00034
    00035   /** constructor: The wirings given in the list
    00036       are applied in the sequence. For the sensors in normal order and
    00037       for the motors in reverse order*/
    00038   WiringSequence(std::list<AbstractWiring*>);
    00039   /** constructor provided for convinience, essentially calls addWiring(w1);addWiring(w2)
    00040    */
    00041   WiringSequence(AbstractWiring* w1, AbstractWiring* w2);
    00042
    00043   virtual ~WiringSequence();
    00044
    00045 protected:
    00046   virtual bool initIntern();
    00047
    00048   virtual bool wireSensorsIntern(const sensor* rsensors, int rsensornumber,
    00049                                  sensor* csensors, int csensornumber,
    00050                                  double noise);
    00051
    00052   virtual bool wireMotorsIntern(motor* rmotors, int rmotornumber,
    00053                                 const motor* cmotors, int cmotornumber);
    00054
    00055
    00056 public:
    00057
    00058   /** adds a wiring to the list of wirings*/
    00059   virtual void addWiring(AbstractWiring* wiring);
    00060
    00061
    00062 protected:
    00063   std::vector<AbstractWiring*> wirings;
    00064   bool initialised;
    00065
    00066 };
    00067
    00068 #endif