one2onewiring.h

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/***************************************************************************
 *   Copyright (C) 2005-2011 LpzRobots development team                    *
 *    Georg Martius  <georg dot martius at web dot de>                     *
 *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
 *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
 *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 *                                                                         *
 ***************************************************************************/
#ifndef __ONE2ONEWIRING_H
#define __ONE2ONEWIRING_H

#include "abstractwiring.h"

/** Implements one to one wiring of robot sensors to inputs of the controller 
    and controller outputs to robot motors. 
 */
class One2OneWiring :public AbstractWiring{
public:
  /** constructor
      @param noise NoiseGenerator that is used for adding noise to sensor values  
      @param plotMode see AbstractWiring 
      @param blind number of blind channels
        (additional sensors and motors coupled directly)
   */
  One2OneWiring(NoiseGenerator* noise, int plotMode=Controller, int blind=0, const std::string& name = "One2OneWiring");

  /** destructor
   */
  virtual ~One2OneWiring();

protected:

  /** initializes the number of sensors and motors on robot side, calculate
      number of sensors and motors on controller side
   */
  virtual bool initIntern();

  /** Realizes one to one wiring from robot sensors to controller sensors. 
      @param rsensors pointer to array of sensorvalues from robot 
      @param rsensornumber number of sensors from robot
      @param csensors pointer to array of sensorvalues for controller  
      @param csensornumber number of sensors to controller
      @param noise size of the noise added to the sensors
  */
  virtual bool wireSensorsIntern(const sensor* rsensors, int rsensornumber, 
                           sensor* csensors, int csensornumber,
                           double noise);

  /** Realizes one to one wiring from controller motor outputs to robot motors. 
      @param rmotors pointer to array of motorvalues for robot 
      @param rmotornumber number of robot motors 
      @param cmotors pointer to array of motorvalues from controller  
      @param cmotornumber number of motorvalues from controller
  */
  virtual bool wireMotorsIntern(motor* rmotors, int rmotornumber,
                          const motor* cmotors, int cmotornumber);


protected:
  int blind; /// number of blind channels
  /// blind motor values
  motor* blindmotors;

};

#endif