araction.h

机器人移动的简单的VC基类

/*
ActivMedia Robotics Interface for Applications (ARIA)
Copyright (C) 2004,2005 ActivMedia Robotics, LLC


     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
ActivMedia Robotics for information about a commercial version of ARIA at 
[e-mail] or 
ActivMedia Robotics, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481

*/

#ifndef ARACTION_H
#define ARACTION_H

#include "ariaTypedefs.h"
#include "ArArg.h"
#include "ArActionDesired.h"
#include <map>
#include <string>

class ArRobot;

/// Action class, what typically makes the robot move
class ArAction
{
public:
  /// Constructor
  AREXPORT ArAction(const char * name, const char * description = "");
  /// Desructor
  AREXPORT virtual ~ArAction();
  /// Finds out whether the action is active or not
  AREXPORT virtual bool isActive(void) const;
  /// Activate the action
  AREXPORT virtual void activate(void);
  /// Deactivate the action
  AREXPORT virtual void deactivate(void);
  /// Fires the action, returning what the action wants to do
  /** 
      @param currentDesired this is what the current resolver has for its 
      desired, this is SOLELY for the purpose of giving information to the 
      action
      @return pointer to what this action wants to do, NULL if it wants to do 
      nothing
  */
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired) = 0;
  /// Sets the robot this action is driving
  AREXPORT virtual void setRobot(ArRobot *robot);
  /// Find the number of arguments this action takes
  AREXPORT virtual int getNumArgs(void) const;
#ifndef SWIG
  /// Gets the numbered argument
  AREXPORT virtual const ArArg *getArg(int number) const;
#endif // SWIG
  /// Gets the numbered argument
  AREXPORT virtual ArArg *getArg(int number);
  /// Gets the name of the action
  AREXPORT virtual const char *getName(void) const;
  /// Gets the long description of the action
  AREXPORT virtual const char *getDescription(void) const;
  /// Gets what this action wants to do (for display purposes)
  AREXPORT virtual ArActionDesired *getDesired(void) { return NULL; }
  /// ArLog::log s the actions stats
  AREXPORT virtual void log(bool verbose = true) const;
protected:  
  // These are documented but only for use in the constructor
  /// Sets the argument type for the next argument (only use in constructor)
  AREXPORT void setNextArgument(ArArg const &arg);
  ArRobot *myRobot;
  bool myIsActive;
  
  int myNumArgs;
  std::map<int, ArArg> myArgumentMap;
  std::string myName;
  std::string myDescription;
};


#endif //ARACTION_H