robots.h

/********************************************************************************
 *  FARSA Experiments Library                                                   *
 *  Copyright (C) 2007-2012                                                     *
 *  Tomassino Ferrauto <tomassino.ferrauto@istc.cnr.it>                         *
 *  Stefano Nolfi <stefano.nolfi@istc.cnr.it>                                   *
 *  Onofrio Gigliotta <onofrio.gigliotta@istc.cnr.it>                           *
 *  Gianluca Massera <emmegian@yahoo.it>                                        *
 *                                                                              *
 *  This program is free software; you can redistribute it and/or modify        *
 *  it under the terms of the GNU General Public License as published by        *
 *  the Free Software Foundation; either version 2 of the License, or           *
 *  (at your option) any later version.                                         *
 *                                                                              *
 *  This program is distributed in the hope that it will be useful,             *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of              *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the               *
 *  GNU General Public License for more details.                                *
 *                                                                              *
 *  You should have received a copy of the GNU General Public License           *
 *  along with this program; if not, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#ifndef ROBOTS_H
#define ROBOTS_H

#include "experimentsconfig.h"
#include "parametersettable.h"
#include "configurationparameters.h"
#include "phyicub.h"
#include "phymarxbot.h"
#include "phyepuck.h"
#include "phykhepera.h"
#include "wheeledexperimenthelper.h"

namespace farsa {

 class FARSA_EXPERIMENTS_TEMPLATE Robot : public ParameterSettableInConstructor
{
public:
    Robot(ConfigurationParameters& params, QString prefix) :
        ParameterSettableInConstructor(params, prefix)
    {
    }

    virtual ~Robot()
    {
    }
};

#ifdef FARSA_USE_YARP_AND_ICUB

class FARSA_EXPERIMENTS_API iCubRobot : public Robot, public PhyiCub
{
public:

    iCubRobot(ConfigurationParameters& params, QString prefix);

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual ~iCubRobot();
};
#endif // FARSA_USE_YARP_AND_ICUB

class FARSA_EXPERIMENTS_API RobotOnPlane : public Robot
{
public:

    RobotOnPlane(ConfigurationParameters& params, QString prefix);

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual ~RobotOnPlane();

    void setPosition(const Box2DWrapper* plane, const wVector& pos);

    virtual void setPosition(const Box2DWrapper* plane, real x, real y) = 0;

    virtual wVector position() const = 0;

    virtual void setOrientation(const Box2DWrapper* plane, real angle) = 0;

    virtual real orientation(const Box2DWrapper* plane) const = 0;

    virtual real robotHeight() const = 0;

    virtual real robotRadius() const = 0;

    virtual bool isKinematic() const = 0;

protected:
    static wVector positionOnPlane(const Box2DWrapper* plane, real x, real y);

    static void orientationOnPlane(const Box2DWrapper* plane, real angle, wMatrix& mtr);

    static real angleBetweenXAxes(const wMatrix& mtr1, const wMatrix& mtr2);
};

class FARSA_EXPERIMENTS_API MarXbot : public RobotOnPlane, public PhyMarXbot
{
public:

    MarXbot(ConfigurationParameters& params, QString prefix);

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual ~MarXbot();

    virtual void setPosition(const Box2DWrapper* plane, real x, real y);

    virtual wVector position() const;

    virtual void setOrientation(const Box2DWrapper* plane, real angle);

    virtual real orientation(const Box2DWrapper* plane) const;

    virtual real robotHeight() const;

    virtual real robotRadius() const;

    virtual bool isKinematic() const;
};

class FARSA_EXPERIMENTS_API Epuck : public RobotOnPlane, public PhyEpuck
{
public:

    Epuck(ConfigurationParameters& params, QString prefix);

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual ~Epuck();

    virtual void setPosition(const Box2DWrapper* plane, real x, real y);

    virtual wVector position() const;

    virtual void setOrientation(const Box2DWrapper* plane, real angle);

    virtual real orientation(const Box2DWrapper* plane) const;

    virtual real robotHeight() const;

    virtual real robotRadius() const;

    virtual bool isKinematic() const;
};

class FARSA_EXPERIMENTS_API Khepera : public RobotOnPlane, public PhyKhepera
{
public:

    Khepera(ConfigurationParameters& params, QString prefix);

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual ~Khepera();

    virtual void setPosition(const Box2DWrapper* plane, real x, real y);

    virtual wVector position() const;

    virtual void setOrientation(const Box2DWrapper* plane, real angle);

    virtual real orientation(const Box2DWrapper* plane) const;

    virtual real robotHeight() const;

    virtual real robotRadius() const;

    virtual bool isKinematic() const;
};

} //end namespace farsa

#endif