allocation_interface.h

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#ifndef ALLOCATION_ALLOCATION_INTERFACE_H
#define ALLOCATION_ALLOCATION_INTERFACE_H
#include <labust/allocation/thruster_configuration.h>
#include <ros/ros.h>
#include <boost/shared_ptr.hpp>
#include <Eigen/Dense>
#include <vector>

namespace labust
{
        namespace allocation
        {
                class AllocationInterface
                {
                public:
                        enum {X=0,Y,Z,K,M,N};

                        typedef boost::shared_ptr<AllocationInterface> Ptr;
                        typedef boost::shared_ptr<AllocationInterface const> ConstPtr;

                        AllocationInterface(){};
                        virtual ~AllocationInterface(){};

                        virtual bool configure(ros::NodeHandle& nh, ros::NodeHandle& ph) = 0;

                        virtual const std::vector<double>& allocate(const Eigen::VectorXd& tau) = 0;

                        virtual const Eigen::VectorXd& tauA() const = 0;

                        virtual const std::vector<bool>& windup() = 0;
                };
        }
}

/* ALLOCATION_ALLOCATION_INTERFACE_H */
#endif