SimulatedDevice.h
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00001 /*
00002  * Copyright (c) 2013 Tallinn University of Technology.
00003  * All rights reserved. This program and the accompanying materials
00004  * are made available under the terms of the GNU Public License v3.0
00005  * which accompanies this distribution, and is available at
00006  * http://www.gnu.org/licenses/gpl.html
00007  *
00008  * Contributors:
00009  *     Yuri Gavshin
00010  */
00011 
00012 #ifndef SIMULATEDDEVICE_H_
00013 #define SIMULATEDDEVICE_H_
00014 
00015 #include <libxml++/libxml++.h>
00016 #include <iostream>
00017 #include <cstdlib>
00018 #include <list>
00019 #include <boost/smart_ptr/shared_ptr.hpp>
00020 
00021 struct ROSInterfaceInfo;
00022 struct SimulatedIAUV;
00023 struct ROSInterface;
00024 struct ConfigFile;
00025 struct Vehicle;
00026 struct SceneBuilder;
00027 struct BulletPhysics;
00028 struct ViewBuilder;
00029 
00030 namespace uwsim
00031 {
00032 struct SimulatedDevice;
00033 //Base class for device's XML configuration
00034 class SimulatedDeviceConfig
00035 {
00036   //device/rosinterface type identifier for both "XML config" and a "factory"
00037   std::string type;
00038 
00039 public:
00040   typedef boost::shared_ptr<SimulatedDeviceConfig> Ptr;
00041   //common XML properties:
00042   std::string name;
00043   std::string getType()
00044   {
00045     return type;
00046   }
00047 
00048   SimulatedDeviceConfig(std::string type);
00049   virtual ~SimulatedDeviceConfig()
00050   {
00051   }
00052   ;
00053 };
00054 
00055 //Base class for device/rosinterface "factory"
00056 class SimulatedDeviceFactory
00057 {
00058   //device/rosinterface type identifier for both "XML config" and a "factory"
00059   std::string type;
00060 public:
00061   typedef boost::shared_ptr<SimulatedDeviceFactory> Ptr;
00062   std::string getType()
00063   {
00064     return type;
00065   }
00066   SimulatedDeviceFactory(std::string type);
00067 
00068   //DRIVER: parses XML and returns "XML config", executed first
00069   virtual SimulatedDeviceConfig::Ptr processConfig(const xmlpp::Node* node, ConfigFile * config) = 0;
00070   //DRIVER: checks parsed XML configurations and sets SimulatedAUV's data, executed second
00071   //Executed multiple times (to allow dependent devices work independent from order of ), until all factories return true
00072   //normally, configuration should occur only on iteration 0
00073   virtual bool applyConfig(SimulatedIAUV * auv, Vehicle &vehicleChars, SceneBuilder *oscene, size_t iteration) = 0;
00074   //ROSINTERFACE: returns configured ROSInterfaces, executed third
00075   virtual std::vector<boost::shared_ptr<ROSInterface> > getInterface(
00076       ROSInterfaceInfo & rosInterface, std::vector<boost::shared_ptr<SimulatedIAUV> > & iauvFile)
00077   {
00078     std::vector < boost::shared_ptr<ROSInterface> > ifaces;  
00079     return ifaces;
00080   }
00081   ;
00082 
00083   virtual ~SimulatedDeviceFactory()
00084   {
00085   }
00086   ;
00087 };
00088 
00089 //Base class for a simulated device
00090 class SimulatedDevice
00091 {
00092   std::string type; //driver/rosinterface type
00093 public:
00094   std::string name; //common property
00095   std::string getType()
00096   {
00097     return type;
00098   }
00099   typedef boost::shared_ptr<SimulatedDevice> Ptr;
00100   SimulatedDevice(SimulatedDeviceConfig * cfg);
00101   virtual void applyPhysics(BulletPhysics * bulletPhysics)
00102   {
00103   }
00104   virtual void setViewBuilder(ViewBuilder * viewBuilder)
00105   {
00106   }
00107 
00108   virtual ~SimulatedDevice()
00109   {
00110   }
00111 };
00112 }
00113 ;
00114 
00115 #endif /* SIMULATEDDEVICES_H_ */


uwsim
Author(s): Mario Prats , Javier Perez
autogenerated on Fri Aug 28 2015 13:28:58