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EntityInterfaces.h

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00001 /*
00002 Teem - an open source evolutionary software framework
00003 http://lis.epfl.ch/resources/Teem
00004 Stephane Magnenat <stephane.magnenat@epfl.ch>,
00005 Antoine Beyeler <antoine.beyeler@epfl.ch>,
00006 and other contributors. See AUTHORS for details
00007 Laboratory of Intelligent Systems, EPFL, Lausanne
00008 
00009 This program is free software; you can redistribute it and/or modify
00010 it under the terms of the GNU General Public License as published by
00011 the Free Software Foundation; either version 2 of the License, or
00012 (at your option) any later version.
00013 
00014 This program is distributed in the hope that it will be useful,
00015 but WITHOUT ANY WARRANTY; without even the implied warranty of
00016 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00017 GNU General Public License for more details.
00018 
00019 You should have received a copy of the GNU General Public License
00020 along with this program; if not, write to the Free Software
00021 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00022 */
00023 
00024 #ifndef __TEEM_ENTITY_INTERFACES_H
00025 #define __TEEM_ENTITY_INTERFACES_H
00026 
00031 namespace Teem
00032 {
00035     class Entity
00036     {
00037     public:
00039         virtual ~Entity() { }
00040     };
00041 
00044     class DifferentialWheeled
00045     {
00046     public:
00048         virtual ~DifferentialWheeled() { }
00049         
00051         virtual void setSpeed(double left, double right) = 0;
00052         //virtual void getEncoders(double &left, double &right) = 0;
00053     };
00054     
00057     class Positionable
00058     {
00059     public:
00061         virtual ~Positionable() { }
00062         
00064         virtual void setOrientation(double angle) = 0;
00066         virtual void setPosition(const An::Point &pos) = 0;
00068         virtual const An::Point &getPosition(void) = 0;
00070         virtual double getOrientation(void) = 0;
00071         
00073         virtual void setPosition(const An::Point &pos, double angle) { setPosition(pos); setOrientation(angle); }
00074     };
00075     
00078     class IRSensorEquipped
00079     {
00080     public:
00082         virtual ~IRSensorEquipped() { }
00083         
00085         virtual double getIRSensor(unsigned index) = 0;
00086     };
00087     
00090     class Camera1DEquipped
00091     {
00092     public:
00094         virtual ~Camera1DEquipped() { }
00095         
00097         virtual unsigned getCameraSize() = 0;
00099         virtual An::Color getCameraPixel(unsigned index) = 0;
00100     };
00101 }
00102 
00103 
00104 #endif

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