include/architecture/basics/team.h

/*
*
* Author: Miguel Julia <mjulia@umh.es> 
* 
* Date:   2008
* 
* Class team
*
*
*/

#pragma once
#ifndef __ROBOT__TEAM___
#define __ROBOT__TEAM___

#include "slamInterface.h"
#include "robot.h"
#include "worldModelInterface.h"
#include "ConfigFile.h"

/**
* @brief Implements a team of robots with global SLAM
*
*/
class team {

///////////////////////////////////////////////////////////////////////
//-------------------------  Attributes  ------------------------------
///////////////////////////////////////////////////////////////////////
private:
        int nrobots;
        robot** theRobots;
        slamInterface* globalSlam;
        worldModelInterface *scene;                     // this class is not the owner of this pointer
        char* teamName;

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

///////////////////////////////////////////////////////////////////////
//-------------------------  Methods  ---------------------------------
///////////////////////////////////////////////////////////////////////
public:

        /// Default constructor
        team();
        /// Default destructor
        virtual ~team();
        /// Builds a team of nrobots in the virtual world scene
        team(int nrobots, worldModelInterface& scene, ConfigFile& stratConfig, ConfigFile& slamConfig, int robotType, const char* teamName);
        /// initilizes a team of nrobots in the virtual world scene
        void initialize(int nrobots, worldModelInterface &scene, ConfigFile& stratConfig, ConfigFile& slamConfig, int robotType, const char* teamName);

        /// returns a reference to the robot r
        robot* getRobot(int r) const;
        /// returns the number of robots
        int getNRobots() const;
        /// returns a pointer to the global slam object
        slamInterface* getGlobalSlam() const;

        /// sets the reference to the virtual world
        void setWorldModel(worldModelInterface& scene);

        /// sets the name of the log file
        void setLogName(const char*);

        /// team exploration, it blocks the thread until the exploration is concluded
        void start();
        void waitForTaskFinished();

        /// stops the exploration
        void stop();
//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////
};

inline robot* team::getRobot(int r) const                               {return (theRobots[r]);}
inline int team::getNRobots() const                                     {return nrobots;}
inline slamInterface* team::getGlobalSlam() const                       {return globalSlam;}

#endif