include/model/worldModelInterface.h

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

#pragma once
#ifndef __WORLD__MODEL__INTERFACE__
#define __WORLD__MODEL__INTERFACE__

#include "rangeSensorData.h"
#include "landmarksData.h"

#include "ClThread.h"
#include "ConfigFile.h"
#include "stepEvent.h"
#include "robotBase.h"
#include <QObject>


typedef std::vector< std::vector<line> > rlines;
typedef std::vector< pose > rposes;

/**
* @brief Defines the world model interface

*
*/
class worldModelInterface: public QObject, public ClThread, public production
{
        
///////////////////////////////////////////////////////////////////////
//-------------------------  Methods  --------------------------------
///////////////////////////////////////////////////////////////////////
public:

        virtual ~worldModelInterface(){};

        worldModelInterface():production(1){};

        /// initializer
        virtual void initialize(int nBots, ConfigFile& configfile, float sampletime)=0;

        /// returns the range sensor current data
        virtual rangeSensorData* getRangeSensorData(int robot)=0;
        /// returns the landmarks data
        virtual landmarksData* getLandmarksData(int robot)=0;
        /// returns the robot odometry
        virtual pose* getOdometry(int robot)=0;

        /// sets the linear and angular speed for a robot
        virtual void setSpeed(int r, float v, float w)=0;
        /// sets the name of the log file
        virtual void setLogName(const char*)=0;

        virtual robotBase* createNewPlatform()=0;
        virtual void disablePlatform(const robotBase& r)=0;

        virtual int fire(int robot)=0;

        virtual int getNumRobots()=0;
        virtual void setNumRobots(int num)=0;


        virtual const char* getOMapFileName() const=0;

        virtual float getTime() const=0;
        virtual float getSampleTime() const=0;
        virtual void randomPoses(bool group, double maxInitialPoseDist, double minInitialPoseDist)=0;

        virtual rposes getPoses() const=0;


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

#endif