SensorFactory.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 sensors
00023  * Author: Andrew Howard
00024  * Date: 18 May 2003
00025  * SVN info: $Id: SensorFactory.hh 196 2007-12-17 22:19:58Z natepak $
00026  */
00027 
00028 #ifndef SENSORFACTORY_HH
00029 #define SENSORFACTORY_HH
00030 
00031 #include <string>
00032 #include <map>
00033 #include "StaticPluginRegister.hh"
00034 
00035 namespace gazebo
00036 {
00037 
00038 // Forward declarations
00039 class Sensor;
00040 class Body;
00041 
00042 
00043 // Prototype for sensor factory functions
00044 typedef Sensor* (*SensorFactoryFn) (Body*);
00045 
00049 
00051 class SensorFactory
00052 {
00054   //public: static void RegisterAll();
00055   
00057   public: static void RegisterSensor(std::string type, std::string  classname,
00058                                     SensorFactoryFn factoryfn);
00059 
00062   public: static Sensor *NewSensor(const std::string &classname, Body *body);
00063 
00065   private: static std::map<std::string, SensorFactoryFn> sensors;
00066 };
00067 
00068 
00074 #define GZ_REGISTER_STATIC_SENSOR(name, classname) \
00075 Sensor *New##classname(Body *body) \
00076 { \
00077   return new classname(body); \
00078 } \
00079 void Register##classname() \
00080 {\
00081   SensorFactory::RegisterSensor("static", name, New##classname);\
00082 }\
00083 StaticPluginRegister Registered##classname (Register##classname);
00084 
00086 }
00087 
00088 #endif
Last updated Aug 04 2007