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 255 2008-02-15 21:05:09Z robotos $ 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 00057 public: void Load(XMLConfigNode *node); 00058 00061 public: void Save(); 00062 00065 public: void Init(); 00066 00068 public: void Reset(); 00069 00072 public: void Update(UpdateParams ¶ms); 00073 00075 public: void Fini(); 00076 00078 protected: virtual void LoadChild(XMLConfigNode * /*node*/) {return;} 00079 00081 protected: virtual void SaveChild(XMLConfigNode * /*node*/) {return;} 00082 00084 protected: virtual void InitChild() {return;} 00085 00087 protected: virtual void ResetChild() {return;} 00088 00090 protected: virtual void UpdateChild(UpdateParams &/*params*/) {return;} 00091 00093 protected: virtual void FiniChild() {return;} 00094 00097 public: std::string GetName() const; 00098 00100 protected: std::string name; 00101 00103 protected: Entity *parent; 00104 00106 protected: double updatePeriod; 00107 00109 protected: double lastUpdate; 00110 00112 protected: std::vector<Iface*> ifaces; 00113 00114 protected: XMLConfigNode *xmlNode; 00115 }; 00116 00118 00119 } 00120 00121 #endif 00122