application.h

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#ifndef APPLICATION_H_
#define APPLICATION_H_

#include <iostream>
#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>

#include "micros_swarm/singleton.h"
#include "micros_swarm/runtime_handle.h"

namespace micros_swarm{

    class Application
    {
    public:
        Application();
        virtual ~Application();
        //application api
        const int get_id();
        const Base& get_base();
        void set_base(const Base& robot_base);
        float get_dis();
        void set_dis(float neighbor_distance);
        //init
        virtual void init() = 0;
        //entry
        virtual void start() = 0;
        //stop
        virtual void stop() = 0;
    private:
        boost::shared_ptr<RuntimeHandle> rth;
    };
};

#endif