universalnetcontroller.h

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#ifndef __UNIVERSALNETCONTROLLER_H
#define __UNIVERSALNETCONTROLLER_H

#include <string.h>
#include <stdlib.h>

#include "abstractcontroller.h"

/**
 * Abstract class (interface) for robot controller that use the "universalnet" 
 * 
 * Implements standart parameters: eps, rho, lamda, epsmodel
 */
class UniversalNetController : public AbstractController {
public:
  UniversalNetController(){
    eps=0.1;
    rho=0.1;
    lambda=0.1;
    epsmodel=0.1;
    n = 100;
  }

  virtual paramval getParam(paramkey key){
    if(strcmp(key, "eps")==0) return eps; 
    else if(strcmp(key, "rho")==0) return rho; 
    else if(strcmp(key, "lambda")==0) return lambda; 
    else if(strcmp(key, "epsmodel")==0) return epsmodel; 
    else if(strcmp(key, "n")==0) return n;
    else return AbstractController::getParam(key);
  }

  virtual void setParam(paramkey key, paramval val){
    if(strcmp(key, "eps")==0) eps=val;
    else if(strcmp(key, "rho")==0) rho=val; 
    else if(strcmp(key, "lambda")==0) lambda=val;
    else if(strcmp(key, "epsmodel")==0) epsmodel=val; 
    else if(strcmp(key, "n")==0) n=val;
    else AbstractController::getParam(key);
  }

  virtual int getParamList(paramkey*& keylist,paramval*& vallist){
    keylist=(paramkey*)malloc(sizeof(paramkey)*5);
    vallist=(paramval*)malloc(sizeof(paramval)*5);
    keylist[0]="eps";
    keylist[1]="rho";
    keylist[2]="lambda";
    keylist[3]="epsmodel";
    keylist[4]="n";
    vallist[0]=eps;
    vallist[1]=rho;
    vallist[2]=lambda;
    vallist[3]=epsmodel;
    vallist[4]=n;
    return 4;
  }

protected:
  paramval eps;
  paramval rho;
  paramval lambda;
  paramval epsmodel;
  paramval n;
};

#endif

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