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 4469 2008-04-02 12:07:33Z robotos $
00026  */
00027 
00028 #ifndef CONTROLLERFACTORY_HH
00029 #define CONTROLLERFACTORY_HH
00030 
00031 #include <string>
00032 #include <map>
00033 #include "StaticPluginRegister.hh"
00034 
00035 namespace gazebo
00036 {
00037 
00041 
00042 // Forward declarations
00043 class Controller;
00044 class Entity;
00045 
00046 
00048 typedef Controller* (*ControllerFactoryFn) (Entity *parent);
00049 
00050 
00052 class ControllerFactory
00053 {
00056   public: static void RegisterController(std::string type, std::string classname, ControllerFactoryFn factoryfn);
00057 
00060   public: static Controller *NewController(const std::string &classname, Entity *parent);
00061   
00063   public: static void LoadPlugin(const std::string &plugin, const std::string &classname);
00064 
00065   // A list of registered controller classes
00066   private: static std::map<std::string, ControllerFactoryFn> controllers;
00067 
00068 };
00069 
00070 
00076 #define GZ_REGISTER_STATIC_CONTROLLER(name, classname) \
00077 Controller *New##classname(Entity *entity) \
00078 { \
00079   return new classname(entity); \
00080 } \
00081 void Register##classname() \
00082 {\
00083   ControllerFactory::RegisterController("static", name, New##classname);\
00084 }\
00085 StaticPluginRegister Registered##classname (Register##classname);
00086 
00092 #define GZ_REGISTER_DYNAMIC_CONTROLLER(name, classname) \
00093 Controller *New##classname(Entity *entity) \
00094 { \
00095   return new classname(entity); \
00096 } \
00097 extern "C" void RegisterPluginController(); \
00098 void RegisterPluginController() \
00099 {\
00100   ControllerFactory::RegisterController("dynamic", name, New##classname);\
00101 }
00102 
00104 }
00105 
00106 #endif
Last updated Aug 04 2007