abstractrobot.h

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/***************************************************************************
 *   Copyright (C) 2005 by Robot Group Leipzig                             *
 *    martius@informatik.uni-leipzig.de                                    *
 *    fhesse@informatik.uni-leipzig.de                                     *
 *    der@informatik.uni-leipzig.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.             *
 *                                                                         *
 *   $Log: abstractrobot.h,v $
 *   Revision 1.4  2007/11/06 14:57:30  martius
 *   motor and sensor type moved into class
 *
 *   Revision 1.3  2006/08/04 15:16:12  martius
 *   documentation
 *
 *   Revision 1.2  2006/07/14 12:23:57  martius
 *   selforg becomes HEAD
 *
 *   Revision 1.1.2.2  2006/06/25 16:51:35  martius
 *   configureable has name and revision
 *   a robot is configureable by default
 *
 *   Revision 1.1.2.1  2005/11/14 17:37:56  martius
 *   moved to selforg
 *
 *   Revision 1.11  2005/10/06 17:14:24  martius
 *   switched to stl lists
 *
 *   Revision 1.10  2005/09/22 12:24:36  martius
 *   removed global variables
 *   OdeHandle and GlobalData are used instead
 *   sensor prepared
 *
 *   Revision 1.9  2005/09/22 07:30:53  martius
 *   moved color and position into extra modules
 *
 *   Revision 1.8  2005/09/12 00:10:44  martius
 *   position operators are const
 *
 *   Revision 1.7  2005/08/30 16:53:53  martius
 *   Position struct has toArray and operators
 *
 *   Revision 1.6  2005/08/29 06:40:35  martius
 *   added virtual destructor
 *
 *   Revision 1.5  2005/08/22 20:32:45  martius
 *   robot has a name
 *
 *   Revision 1.4  2005/07/27 13:22:16  martius
 *   position and color have constructors
 *   ODEHandle
 *
 *   Revision 1.3  2005/07/18 14:47:41  martius
 *   world, space, contactgroup are not pointers anymore.
 *
 *   Revision 1.2  2005/07/07 09:27:11  martius
 *   isGeomInObjectList added
 *
 *   Revision 1.1  2005/06/15 14:20:04  martius
 *   moved into robots
 *                                                                 *
 ***************************************************************************/
#ifndef __ABSTRACTROBOT_H
#define __ABSTRACTROBOT_H

#include <vector>
 
#include "trackable.h"
#include "configurable.h"
#include "position.h"

/**
 * Abstract class (interface) for robot in general
 * 
 * 
 */
class AbstractRobot : public Trackable, public Configurable {
public:
  typedef double sensor;
  typedef double motor;

  /**
   * Constructor
   * @param name name of the robot
   * @param revision revision number of the file (Hint: use CVS variable \verbatim $ID$ \endverbatim )
   */
  AbstractRobot(const std::string& name="abstractRobot", const std::string& revision = "$ID$")
    : Configurable(name, revision) {
  };

  virtual ~AbstractRobot(){}

  /** returns actual sensorvalues
      @param sensors sensors scaled to [-1,1] 
      @param sensornumber length of the sensor array
      @return number of actually written sensors
  */
  virtual int getSensors(sensor* sensors, int sensornumber)=0;

  /** sets actual motorcommands
      @param motors motors scaled to [-1,1] 
      @param motornumber length of the motor array
  */
  virtual void setMotors(const motor* motors, int motornumber)=0;

  /** returns number of sensors
  */
  virtual int getSensorNumber()=0;

  /** returns number of motors
  */
  virtual int getMotorNumber()=0;

  

};

#endif
 

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