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Factory.hh

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00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /* Desc: A Factory to create model at run-time
00022  * Author: Nate Koenig
00023  * Date: 14 Nov 2003
00024  * CVS: $Id: Factory.hh,v 1.7 2004/11/12 19:06:16 natepak Exp $
00025  */
00026 
00027 #ifndef FACTORY_HH
00028 #define FACTORY_HH
00029 
00030 #include "Model.hh"
00031 
00032 typedef struct gz_factory gz_factory_t;
00033 
00034 class Factory : public Model
00035 {
00036   // Construct, destructor
00037   public: Factory( World *world );
00038   public: virtual ~Factory();
00039 
00040   // Load the model
00041   public: virtual int Load( WorldFile *file, WorldFileNode *node );
00042 
00043   // Initialize the model
00044   public: virtual int Init( WorldFile *file, WorldFileNode *node );
00045 
00046   // Finalize the model
00047   public: virtual int Fini();
00048 
00049   // Update the model state
00050   public: virtual void Update( double step );
00051 
00052   // Initialize the external interface
00053   private: int IfaceInit();
00054 
00055   // Finalize the external interface
00056   private: int IfaceFini();
00057 
00058   // Get commands from the external interface
00059   private: void IfaceGetCmd();
00060 
00061   private: char *xmlPrefix;
00062   private: char *xmlSuffix;
00063 
00064   // External interface
00065   private: gz_factory_t *iface;
00066 
00067   // Body
00068   private: Body *body;
00069 };
00070 
00071 #endif


Last updated $Date: 2004/12/21 01:49:15 $
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