humaninput2d.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef HYDRO_INTERFACES_HUMANINPUT2D_H
00012 #define HYDRO_INTERFACES_HUMANINPUT2D_H
00013 
00014 #include <hydroutil/context.h>
00015 
00016 namespace hydrointerfaces 
00017 {
00018 
00039 class SOEXPORT HumanInput2d
00040 {
00041 
00042 public:
00043 
00044     static const int TIMEOUT=-2;
00045 
00059     class SOEXPORT Command
00060     {   
00061     public: 
00063         double longitudinal;
00065         bool isLongIncrement;
00066     
00068         double transverse;
00070         bool isTransverseIncrement;
00071 
00073         double angular;
00075         bool isAngularIncrement;
00076 
00077         void resetIncremental();
00078         void resetAbsolute();
00079         std::string toString() const;
00080     };
00081 
00082     virtual ~HumanInput2d() {};
00083     
00085     virtual int enable()=0;
00086     
00088     virtual int disable()=0;
00089 
00092     virtual int read( Command& command )=0;
00093 };
00094 
00096 class SOEXPORT HumanInput2dFactory {
00097 public:
00098     virtual ~HumanInput2dFactory() {};
00100     virtual HumanInput2d *createDriver( const hydroutil::Context &context ) const=0;
00101 };
00102 
00104 } // namespace
00105 
00106 // Function for dynamically instantiating drivers.
00107 // A driver must have a function like so:
00108 // extern "C" {
00109 //     hydrointerfaces::HumanInput2dFactory *createHumanInput2dDriverFactory();
00110 // }
00111 typedef hydrointerfaces::HumanInput2dFactory *HumanInput2dDriverFactoryMakerFunc();
00112 
00113 #endif