Controller.hh

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 /*
00022  * Desc: Controller base class.
00023  * Author: Nathan Koenig
00024  * Date: 01 Feb 2007
00025  * SVN: $Id: Controller.hh 123 2007-09-19 20:36:14Z natepak $
00026  */
00027 #ifndef CONTROLLER_HH
00028 #define CONTROLLER_HH
00029 
00030 #include <string>
00031 #include <vector>
00032 
00033 #include "UpdateParams.hh"
00034 
00035 namespace gazebo
00036 {
00037   class Iface;
00038   class XMLConfigNode;
00039   class Entity;
00040 
00044 
00046 class Controller
00047 {
00050   public: Controller( Entity *parent );
00051 
00053   public: virtual ~Controller();
00054 
00058   public: void Load(XMLConfigNode *node);
00059 
00062   public: void Init();
00063 
00067   public: void Update(UpdateParams &params);
00068 
00071   public: void Fini();
00072 
00075   protected: virtual void LoadChild(XMLConfigNode * /*node*/) {return;}
00076 
00079   protected: virtual void InitChild() {return;}
00080 
00083   protected: virtual void UpdateChild(UpdateParams &/*params*/) {return;}
00084 
00087   protected: virtual void FiniChild() {return;}
00088 
00091   public: std::string GetName() const;
00092 
00094   protected: std::string name;
00095 
00097   protected: Entity *parent;
00098 
00100   protected: double updatePeriod;
00101 
00103   protected: std::vector<Iface*> ifaces;
00104 };
00105 
00107 
00108 }
00109 
00110 #endif
00111
Last updated Aug 04 2007