66 lines
2.3 KiB
C
66 lines
2.3 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARRESOLVER_H
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#define ARRESOLVER_H
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#include "ariaTypedefs.h"
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#include "ArActionDesired.h"
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#include <string>
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class ArAction;
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class ArRobot;
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/// Resolves a list of actions and returns what to do
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/**
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ArResolver::resolve() is the function that ArRobot
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calls with the action list in order
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to produce a combined ArActionDesired object from them, according to
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the subclass's particular algorithm or policy.
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*/
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class ArResolver
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{
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public:
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/// Constructor
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typedef std::multimap<int, ArAction *> ActionMap;
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ArResolver(const char *name, const char * description = "")
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{ myName = name; myDescription = description; }
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/// Desturctor
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virtual ~ArResolver() {};
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/// Figure out a single ArActionDesired from a list of ArAction s
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virtual ArActionDesired *resolve(ActionMap *actions, ArRobot *robot,
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bool logActions = false) = 0;
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/// Gets the name of the resolver
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virtual const char *getName(void) const { return myName.c_str(); }
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/// Gets the long description fo the resolver
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virtual const char *getDescription(void) const { return myDescription.c_str(); }
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protected:
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std::string myName;
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std::string myDescription;
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};
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#endif
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