include/architecture/basics/explorer.h

/*
*
* Author: Miguel Julia <mjulia@umh.es> 
* 
* Date:   2010
* 
* Class explorer
*
*/

#pragma once
#ifndef __EXPLORER__
#define __EXPLORER__

#include "robot.h"

#define HYBRIDPLANNER                   0
#define FSAPLANNER                      1
#define FRONTIERGREEDYPLANNER           2
#define IGPLANNER                       3
#define COORDINATEDPLANNER              4
#define MARKETPLANNER                   5
#define INTEGRATEDIGPLANNER             6

#define REACTIVEGAUSS                   0
#define REACTIVEINV                     1

/**
*
* @brief Implements the architecture of a mobile robot that explores the environment
*
*/

class explorer: public robot{

///////////////////////////////////////////////////////////////////////
//-------------------------  Attributes  ------------------------------
///////////////////////////////////////////////////////////////////////
private:

        int plantype;
        int reactype;

//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////

///////////////////////////////////////////////////////////////////////
//-------------------------  Methods  ---------------------------------
///////////////////////////////////////////////////////////////////////
public:
        /// Default Constructor
        explorer();
        /// Default Destructor
        virtual ~explorer();

        /// Constructor
        /// \param number ID number
        /// \param scene reference to virtual world object
        /// \param slamProc reference to slam object
        explorer(int number, slamInterface& slamProc, worldModelInterface& scene, const ConfigFile& config);
        /// Initializer
        /// \param number ID number
        /// \param scene virtual world
        /// \param slamProc pointer to slam object
        void initialize(int number, slamInterface& slamProc, worldModelInterface& scene, const ConfigFile& config);
        
        /// Initiatites the hybrid exploration of the environment
        void start();

        /// stops all actions execution
        void stop();
//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////
};


#endif