src/architecture/basics/robot.cpp

#include <iostream>
#include <stdlib.h>

#include "robot.h"

#include "reactiveGauss.h"

#include "HybridPlanner.h"
#include "FrontierGreedyPlanner.h"
#include "FSAPlanner.h"
#include "CoordinatedPlanner.h"
#include "IGPlanner.h"
#include "MarketPlanner.h"
#include "IntegratedIGPlanner.h"

// constructor
robot::robot():
        number(0),
        strlog(0),
        mySlam(0),
        reac(0),
        plan(0),
        scene(0),
        rbase(0),
        config(0)
{
//      printf("[ROBOT] Robot created\n");
}

// constructor
robot::robot(int num, slamInterface& sp, worldModelInterface& s, const ConfigFile& conf):
        number(num),
        strlog(0),
        mySlam(&sp),
        reac(0),
        plan(0),
        scene(&s),
        rbase(s.createNewPlatform()),
        config(&conf)
{
        mySlam->setRobotBase(number,*rbase);
//      printf("[ROBOT] Robot created\n");
}

// destructor
robot::~robot(){
//      printf("[ROBOT] Robot destroyer...\n");
        if (plan){
                plan->stop();
                delete plan;
        }
        if (reac){
                reac->stop();
                delete reac;
        }
        if (strlog) delete[] strlog;
        if (rbase) delete rbase;
//      printf("[ROBOT] Robot destroyed\n");
}

// initializer
void robot::initialize(int num, slamInterface& sp, worldModelInterface& s, const ConfigFile& conf){
        number = num;
        if (strlog) delete[] strlog;
        setSlam(sp);
        if (plan){
                plan->stop();
                delete plan;
                plan = 0;
        }
        if (reac){
                reac->stop();
                delete reac;
                reac = 0;
        }
        setWorldModel(s);
        if (rbase) delete rbase;
        rbase = s.createNewPlatform();
        mySlam->setRobotBase(number,*rbase);
        config = &conf;
}

// sets the log file name
void robot::setLogName(const char* str){
        if (strlog) delete[] strlog;
        strlog = new char[strlen(str)+1];
        strcpy(strlog,str);
}