ControllerFactory.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: Factory for creating controllers
00023  * Author: Nate Koenig
00024  * Date: 06 May 2007
00025  * SVN info: $Id: ControllerFactory.hh 156 2007-11-26 20:26:57Z natepak $
00026  */
00027 
00028 #ifndef CONTROLLERFACTORY_HH
00029 #define CONTROLLERFACTORY_HH
00030 
00031 #include <string>
00032 #include <map>
00033 
00034 namespace gazebo
00035 {
00036 
00040 
00041 // Forward declarations
00042 class Controller;
00043 class Entity;
00044 
00045 
00047 typedef Controller* (*ControllerFactoryFn) (Entity *parent);
00048 
00049 
00051 class ControllerFactory
00052 {
00054   public: static void RegisterAll();
00055   
00058   public: static void RegisterController(std::string type, std::string classname, ControllerFactoryFn factoryfn);
00059 
00062   public: static Controller *NewController(const std::string &classname, Entity *parent);
00063 
00064   // A list of registered controller classes
00065   private: static std::map<std::string, ControllerFactoryFn> controllers;
00066 
00067 };
00068 
00069 
00075 #define GZ_REGISTER_STATIC_CONTROLLER(name, classname) \
00076 Controller *New##classname(Entity *entity) \
00077 { \
00078   return new classname(entity); \
00079 } \
00080 void Register##classname() \
00081 {\
00082   ControllerFactory::RegisterController("static", name, New##classname);\
00083 }
00084 
00085 
00087 }
00088 
00089 #endif
Last updated Aug 04 2007