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# abstractrobot.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  *                                                                         *
    00022  *   $Log: abstractrobot.h,v $
    00023  *   Revision 1.4  2007/11/06 14:57:30  martius
    00024  *   motor and sensor type moved into class
    00025  *
    00026  *   Revision 1.3  2006/08/04 15:16:12  martius
    00027  *   documentation
    00028  *
    00029  *   Revision 1.2  2006/07/14 12:23:57  martius
    00030  *   selforg becomes HEAD
    00031  *
    00032  *   Revision 1.1.2.2  2006/06/25 16:51:35  martius
    00033  *   configureable has name and revision
    00034  *   a robot is configureable by default
    00035  *
    00036  *   Revision 1.1.2.1  2005/11/14 17:37:56  martius
    00037  *   moved to selforg
    00038  *
    00039  *   Revision 1.11  2005/10/06 17:14:24  martius
    00040  *   switched to stl lists
    00041  *
    00042  *   Revision 1.10  2005/09/22 12:24:36  martius
    00043  *   removed global variables
    00044  *   OdeHandle and GlobalData are used instead
    00045  *   sensor prepared
    00046  *
    00047  *   Revision 1.9  2005/09/22 07:30:53  martius
    00048  *   moved color and position into extra modules
    00049  *
    00050  *   Revision 1.8  2005/09/12 00:10:44  martius
    00051  *   position operators are const
    00052  *
    00053  *   Revision 1.7  2005/08/30 16:53:53  martius
    00054  *   Position struct has toArray and operators
    00055  *
    00056  *   Revision 1.6  2005/08/29 06:40:35  martius
    00057  *   added virtual destructor
    00058  *
    00059  *   Revision 1.5  2005/08/22 20:32:45  martius
    00060  *   robot has a name
    00061  *
    00062  *   Revision 1.4  2005/07/27 13:22:16  martius
    00063  *   position and color have constructors
    00064  *   ODEHandle
    00065  *
    00066  *   Revision 1.3  2005/07/18 14:47:41  martius
    00067  *   world, space, contactgroup are not pointers anymore.
    00068  *
    00069  *   Revision 1.2  2005/07/07 09:27:11  martius
    00070  *   isGeomInObjectList added
    00071  *
    00072  *   Revision 1.1  2005/06/15 14:20:04  martius
    00073  *   moved into robots
    00074  *                                                                 *
    00075  ***************************************************************************/
    00076 #ifndef __ABSTRACTROBOT_H
    00077 #define __ABSTRACTROBOT_H
    00078
    00079 #include <vector>
    00080
    00081 #include "trackable.h"
    00082 #include "configurable.h"
    00083 #include "position.h"
    00084
    00085 /**
    00086  * Abstract class (interface) for robot in general
    00087  *
    00088  *
    00089  */
    00090 class AbstractRobot : public Trackable, public Configurable {
    00091 public:
    00092   typedef double sensor;
    00093   typedef double motor;
    00094
    00095   /**
    00096    * Constructor
    00097    * @param name name of the robot
    00098    * @param revision revision number of the file (Hint: use CVS variable \verbatim $ID$ \endverbatim )
    00099    */
    00100   AbstractRobot(const std::string& name="abstractRobot", const std::string& revision = "$ID$")
    00101     : Configurable(name, revision) {
    00102   };
    00103
    00104   virtual ~AbstractRobot(){}
    00105
    00106   /** returns actual sensorvalues
    00107       @param sensors sensors scaled to [-1,1]
    00108       @param sensornumber length of the sensor array
    00109       @return number of actually written sensors
    00110   */
    00111   virtual int getSensors(sensor* sensors, int sensornumber)=0;
    00112
    00113   /** sets actual motorcommands
    00114       @param motors motors scaled to [-1,1]
    00115       @param motornumber length of the motor array
    00116   */
    00117   virtual void setMotors(const motor* motors, int motornumber)=0;
    00118
    00119   /** returns number of sensors
    00120   */
    00121   virtual int getSensorNumber()=0;
    00122
    00123   /** returns number of motors
    00124   */
    00125   virtual int getMotorNumber()=0;
    00126
    00127
    00128
    00129 };
    00130
    00131 #endif
    00132