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

# abstractrobot.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 __ABSTRACTROBOT_H
    00025 #define __ABSTRACTROBOT_H
    00026
    00027 #include <vector>
    00028
    00029 #include "trackable.h"
    00030 #include "configurable.h"
    00031 #include "position.h"
    00032
    00033 /**
    00034  * Abstract class (interface) for robot in general
    00035  *
    00036  *
    00037  */
    00038 class AbstractRobot : public Trackable, public Configurable {
    00039 public:
    00040   typedef double sensor;
    00041   typedef double motor;
    00042
    00043   /**
    00044    * Constructor
    00045    * @param name name of the robot
    00046    * @param revision revision number of the file (Hint: use CVS variable \verbatim $ID$ \endverbatim )
    00047    */
    00048   AbstractRobot(const std::string& name="abstractRobot", const std::string& revision = "$ID$")
    00049     : Configurable(name, revision) {
    00050   };
    00051
    00052   virtual ~AbstractRobot(){}
    00053
    00054   /** returns actual sensorvalues
    00055       @param sensors sensors scaled to [-1,1]
    00056       @param sensornumber length of the sensor array
    00057       @return number of actually written sensors
    00058   */
    00059   virtual int getSensors(sensor* sensors, int sensornumber)=0;
    00060
    00061   /** sets actual motorcommands
    00062       @param motors motors scaled to [-1,1]
    00063       @param motornumber length of the motor array
    00064   */
    00065   virtual void setMotors(const motor* motors, int motornumber)=0;
    00066
    00067   /** returns number of sensors
    00068   */
    00069   virtual int getSensorNumber()=0;
    00070
    00071   /** returns number of motors
    00072   */
    00073   virtual int getMotorNumber()=0;
    00074
    00075   virtual std::string getTrackableName() const {return getName();}
    00076
    00077 };
    00078
    00079 #endif
    00080