default_controller.hpp
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00001 /*
00002  * Copyright (c) 2012, Yujin Robot.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Yujin Robot nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00038 /*****************************************************************************
00039 ** Ifdefs
00040 *****************************************************************************/
00041 
00042 #ifndef DEFAULT_CONTROLLER_HPP_
00043 #define DEFAULT_CONTROLLER_HPP_
00044 
00045 /*****************************************************************************
00046 ** Includes
00047 *****************************************************************************/
00048 
00049 namespace yocs
00050 {
00051 
00057 class Controller
00058 {
00059 public:
00060   Controller() : controller_active_(false)
00061   {};
00062   virtual ~Controller(){};
00070   virtual bool init() = 0;
00071 
00077   bool enable()
00078   {
00079     if (controller_active_)
00080     {
00081       return false;
00082     }
00083     else
00084     {
00085       controller_active_ = true;
00086       return true;
00087     }
00088   };
00089 
00095   bool disable()
00096   {
00097     if (!controller_active_)
00098     {
00099       return false;
00100     }
00101     else
00102     {
00103       controller_active_ = false;
00104       return true;
00105     }
00106   };
00107 
00113   bool getState()
00114   {
00115     return controller_active_;
00116   }
00122   virtual void spin()
00123   {
00124     // do nothing
00125   };
00126 
00127 private:
00128   bool controller_active_;
00129 };
00130 
00131 } // namespace yocs
00132 
00133 #endif /* DEFAULT_CONTROLLER_HPP_ */


yocs_controllers
Author(s): Marcus Liebhardt
autogenerated on Mon Oct 6 2014 09:11:28