Robotsystem of the Robot Group Leipzig: wiringsequence.h Source File

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# wiringsequence.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2007 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: wiringsequence.h,v $
    00023  *   Revision 1.3  2008/04/28 11:14:54  guettler
    00024  *   removed include "abstractrobot.h" (not needed)
    00025  *
    00026  *   Revision 1.2  2008/04/17 14:54:45  martius
    00027  *   randomGen added, which is a random generator with long period and an
    00028  *    internal state. Each Agent has an instance and passed it to the controller
    00029  *    and the wiring. This is good for
    00030  *   a) repeatability on agent basis,
    00031  *   b) parallel execution as done in ode_robots
    00032  *
    00033  *   Revision 1.1  2007/11/29 19:18:33  martius
    00034  *   sequence of wirings
    00035  *
    00036  *   Revision 1.1  2007/11/28 10:30:56  martius
    00037  *   wiring with feedback connections
    00038  *
    00039  *                                            *
    00040  *                                                                         *
    00041  ***************************************************************************/
    00042 #ifndef __WIRINGSEQUENCE_H
    00043 #define __WIRINGSEQUENCE_H
    00044
    00045 #include "abstractwiring.h"
    00046 #include <vector>
    00047
    00048 /** Implements a sequence of wirings
    00049  */
    00050 class WiringSequence :public AbstractWiring{
    00051 public:
    00052
    00053   /** constructor: The wirings given in the list
    00054       are applied in the sequence. For the sensors in normal order and
    00055       for the motors in reverse order*/
    00056   WiringSequence(std::list<AbstractWiring*>);
    00057   /** constructor provided for convinience, essentially calls addWiring(w1);addWiring(w2)
    00058    */
    00059   WiringSequence(AbstractWiring* w1, AbstractWiring* w2);
    00060
    00061   virtual ~WiringSequence();
    00062
    00063   virtual bool init(int robotsensornumber, int robotmotornumber, RandGen* randGen=0);
    00064
    00065   virtual bool wireSensors(const sensor* rsensors, int rsensornumber,
    00066                            sensor* csensors, int csensornumber,
    00067                            double noise);
    00068
    00069   virtual bool wireMotors(motor* rmotors, int rmotornumber,
    00070                           const motor* cmotors, int cmotornumber);
    00071
    00072   /** adds a wiring to the list of wirings*/
    00073   virtual void addWiring(AbstractWiring* wiring);
    00074
    00075 protected:
    00076   std::vector<AbstractWiring*> wirings;
    00077   bool initialised;
    00078
    00079 };
    00080
    00081 #endif