Comm.h
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00001 /*
00002  * Copyright (C) 2009 by Ulrich Friedrich Klank <klank@in.tum.de>
00003  *
00004  * This program is free software; you can redistribute it and/or modify
00005  * it under the terms of the GNU General Public License as published by
00006  * the Free Software Foundation; either version 3 of the License, or
00007  * (at your option) any later version.
00008  *
00009  * This program is distributed in the hope that it will be useful,
00010  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00011  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012  * GNU General Public License for more details.
00013  *
00014  * You should have received a copy of the GNU General Public License
00015  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
00016  */
00017 
00018 
00019 #ifndef COMM_H
00020 #define COMM_H
00021 
00022 
00023 #define STD_LO_RPC_PORT_INTERNAL "/located_object"
00024 #define XML_PROPERTY_LO_RPC_PORT "LO_SERVICE_PORT"
00025 class Matrix;
00026 #include "ElemTypes.h"
00027 
00028 namespace cop
00029 {
00030   class RelPose;
00031   class Signature;
00032 
00033   class Comm
00034   {
00035   public:
00036     Comm()
00037     {
00038       m_commID = s_lastCommID;
00039     }
00040 
00041     virtual void NotifyPoseUpdate(RelPose* /*pose*/, bool /*sendObjectRelation = true*/)=0;/*{throw "Comm NotifyPoseUpdate: Not implemented";}*/
00042     virtual void NotifyNewObject(Signature*, RelPose*){throw "Comm CreateNewPose: Not implemented";};/*{throw "Comm NotifyPoseUpdate: Not implemented";}*/
00043     virtual RelPose* CreateNewPose(RelPose* /*pose*/, Matrix* /*mat*/, Matrix* /*cov*/){throw "Comm CreateNewPose: Not implemented";}
00044     virtual RelPose* CreateNewPose(LocatedObjectID_t /*parent*/, Matrix* /*mat*/, Matrix* /*cov*/){throw "Comm CreateNewPose: Not implemented";}
00045     virtual RelPose* UpdatePose(RelPose* /*pose*/, LocatedObjectID_t /*parent*/, Matrix* /*mat*/, Matrix* /*cov*/){throw "Comm CreateNewPose: Not implemented";}
00046     virtual RelPose* GetPose(LocatedObjectID_t /*poseId*/){throw "Comm GetPose: Not implemented";}
00047     virtual RelPose* GetPose(const std::string /*poseId*/, bool wait = true){throw "Comm GetPose: Not implemented";}
00048     virtual RelPose* GetPoseRelative(LocatedObjectID_t /*poseId*/, LocatedObjectID_t /*parentPoseId*/){throw "Comm GetPoseRelative: Not implemented";}
00049     virtual bool FreePose(LocatedObjectID_t /*poseID*/){return false;}
00050 
00051     unsigned long  GetCommID(){return m_commID;}
00052  private:
00053     unsigned long m_commID;
00054     static unsigned long s_lastCommID;
00055   };
00056 
00057 }
00058 #endif 
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cognitive_perception
Author(s): Ulrich F Klank
autogenerated on Thu May 23 2013 07:38:34