include/architecture/slam/slamInterface.h

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

*
*/

#pragma once
#ifndef __SLAM__INTERFACE__
#define __SLAM__INTERFACE__

#include "gridMapInterface.h"
#include "visualMap.h"
#include "stepEvent.h"
#include "ConfigFile.h"
#include <iostream>
#include <stdlib.h>
#include <loki/Factory.h>
#include <loki/Typelist.h>
#include <loki/Functor.h>
#include "ClThread.h"
#include "robotBase.h"
#include "worldModelInterface.h"
#include <QObject>
#include <QPixmap>

/**
* @brief Interface for landmark-based visual SLAM algorithms
*
*/
class slamInterface: public QObject, public ClThread, public stepEventManager{

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

public:
        
        virtual ~slamInterface(){};
        
        ///initializer  
        virtual void initialize(int nrobots, ConfigFile& configfile)=0;
        
        /// sets the pointer to a robot base object
        virtual void setRobotBase(int robot, robotBase& rbase)=0;
        /// sets the world model
        virtual void setWorldModel(worldModelInterface& scene)=0;

        /// return the number of robots
        virtual int getNumRobots() const=0;
        /// returns the width of the map
        virtual float getWidth() const=0;
        /// return the height of the map
        virtual float getHeight() const=0;
        /// return the x position of the origin of grid map in real coordinates
        virtual float getXOrigin() const=0;
        /// return the y position of the origin of grid map in real coordinates
        virtual float getYOrigin() const=0;
        /// returns the resolution of the gridmap
        virtual float getResolution() const=0;
        /// returns the width in cells of the grid map
        virtual int getGMWidth() const=0;
        /// returns the height in cells of the grid map
        virtual int getGMHeight() const=0;

        /// sets the high uncertainty threshold for the localization state 
        virtual void setHighThreshold(float thb)=0;
        /// sets the low uncertainty threshold for the localization state 
        virtual void setLowThreshold(float tha)=0;
        
        /// returns a copy of the current occupancy map
        virtual gridMapInterface* getOMap()=0;
        /// returns a copy of the current visual map
        virtual visualMap* getVMap()=0;
        /// return a copy of the current precise pose map
        virtual binMap* getPreMap()=0;
        /// returns a copy of the current imprecise pose map
        virtual binMap* getImpMap()=0;

        /// returns the current pose of the robot
        virtual pose getPos(int robot)=0;
        /// returns the current cell of the robot
        virtual point getCell(int robot)=0;
        /// returns the matrix that represents the covariance of the position of the robot
        virtual matrix getCovariance(int robot) const=0;
        /// returns the matrix that represents the covariance of robots and marks
        virtual Ematrix getGlobalCovariance() const = 0 ;
        /// returns a measure of the dispersion of the robot
        virtual float getDisp(int robot) const=0;
        /// return the current state of localization of the robot
        virtual bool getLoc(int robot) const=0;

        /// returns the current simulation time
        virtual float getTime() const =0;
        /// returns the period of the simulation time step
        virtual float getSampleTime() const =0;

        /// sets the name of the log file
        virtual void setLogName(const char*)=0;
        /// sets the name of the gridmap file   
        virtual void setGridMapName(const char*)=0;

        virtual void setWindowName(const char*)=0;

        virtual void disableRobotBase(int r)=0;

        virtual QPixmap* getPixmap()=0;
        virtual QImage* getQImage()=0;


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

/// create object function format
typedef Loki::Functor<slamInterface*, LOKI_TYPELIST_2(int,ConfigFile&)> slamCreator;
/// Factory
typedef Loki::SingletonHolder< Loki::Factory< slamInterface, int, LOKI_TYPELIST_2(int,ConfigFile&)> > slamFactory;

#endif