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Factory.hh
Go to the documentation of this file.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
