include/model/robotBase.h

/*
*
* Author: Miguel Julia <mjulia@umh.es> 
* 
* Date:   2009
* 
* Class robotBase
*

*/

#pragma once
#ifndef __ROBOT__BASE__
#define __ROBOT__BASE__

#include "ClThread.h"
#include "stepEvent.h"
#include "rangeSensorData.h"
#include "landmarksData.h"
#include "robotTypes.h"

/**
* @brief This class reference a robotic plattform in the simulator
*
*/
class robotBase: public production{

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

        void* scene;
        int number;
        bool captured;

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

///////////////////////////////////////////////////////////////////////
//-------------------------  Methods  ---------------------------------
///////////////////////////////////////////////////////////////////////

public:

        /// Default constructor
        robotBase();
        /// Builds a robotBase with ID number and a vitualWorld associated 
        robotBase(int number);
        /// Default destructor
        virtual ~robotBase();

        /// sets the reference to the virtual world object 
        void setWorldModel(void* scence);
        /// sets the robot ID number
        void setNumber(int number);
        /// sets the robot ID number
        int getNumber() const;

        /// returns the range sensor current data
        rangeSensorData* getRangeSensorData();
        /// returns the landmarks data
        landmarksData* getLandmarksData();
        /// returns the robot odometry
        pose* getOdometry();

        /// sets the linear and angular speed
        void setSpeed(float v, float w);

        int fire();
        void setCaptured();
        bool isCaptured();


//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////
};

inline void robotBase::setNumber(int n)                                 {number = n;}
inline int robotBase::getNumber() const                                 {return number;}
inline void robotBase::setCaptured()                                    {captured = true;}
inline bool robotBase::isCaptured()                                     {return captured;}
#endif