TrajectoryModule.hpp

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/*
 * TrajectoryModule.hpp
 *
 *  Created on: Dec 13, 2011
 *      Author: mriedel
 */

#ifndef TRAJECTORYMODULE_HPP_
#define TRAJECTORYMODULE_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <tk_trajprocessor/TrajectoryProcessorDefines.hpp>

// plugin stuff
#include <pluginlib/class_list_macros.h>

#include <telekyb_base/Messages.hpp>

namespace TELEKYB_NAMESPACE {

class TrajectoryProcessorController;

class TrajectoryModule {
private:
        // set individual Module active or inactive
        bool active;

protected:
        TrajectoryProcessorController& tpController;

        // pluginName
        std::string name;
        // type
        TrajModulePosType type;
        // priority 0-> you don't care-> will be added in the middle
        // priority < 0 the more negative it will be placed in the beginning
        // priority > 0 the more positive it will be placed in the end.
        // PRIORITIES SHOULD BE UNIQUE! OTHERWISE LOADING ORDER DETERMINES POSITION!
        int priority;


        TrajectoryModule(const std::string& name_, TrajModulePosType type_, int priority_);

public:
        virtual ~TrajectoryModule();
        TrajModulePosType getType() const;
        std::string getName() const;
        int getPriority() const;

        bool isActive() const;
        void setActive();
        void setInactive();


        // called directly after Creation
        virtual void initialize() = 0;

        // called right before destruction
        virtual void destroy() = 0;

        // set back to intial conditions
        virtual void willTurnActive() = 0;

        // called after turning inactive
        virtual void didTurnInactive() = 0;

        // Interface Functions
        // true -> proceed normally
        // false -> do not check other Trajectory Modules in List. (e.g. BehaviorChange etc...)
        virtual bool trajectoryStep(const TKState& currentState, TKTrajectory& trajInput) = 0;
};

} /* namespace telekyb */
#endif /* TRAJECTORYMODULE_HPP_ */