real_robot.h

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#ifndef REAL_ROBOT_H
#define REAL_ROBOT_H
 
#include <argos3/core/utility/configuration/argos_configuration.h>
#include <argos3/core/control_interface/ci_controller.h>
 
namespace argos {
 
   class CRealRobot {
 
   public:
 
      CRealRobot();
      
      virtual ~CRealRobot();
 
      virtual void Init(const std::string& str_conf_fname,
                        const std::string& str_controller_id);
 
      virtual void InitRobot() = 0;
 
      virtual void Destroy() = 0;
 
      virtual CCI_Actuator* MakeActuator(const std::string& str_name) = 0;
 
      virtual CCI_Sensor* MakeSensor(const std::string& str_name) = 0;
 
      virtual void Sense(Real f_elapsed_time) = 0;
      
      virtual void Control();
      
      virtual void Act(Real f_elapsed_time) = 0;
 
      virtual void Execute();
 
      static void Cleanup(int);
 
   protected:
 
      CCI_Controller* m_pcController;
      ticpp::Document m_tConfiguration;
      TConfigurationNode m_tConfRoot;
      TConfigurationNode* m_ptControllerConfRoot;
      Real m_fRate;
      static CRealRobot* m_pcInstance;
      
   };
   
}
 
#endif