StageRobotFactory.hh

/*  
    (C) Copyright 2005, ActivMedia Robotics LLC <http://www.activmedia.com>
    (C) Copyright 2006-2010 MobileRobots, Inc. <http://www.mobilerobots.com>
    (C) Copyright 2011-2015 Adept Technology
    (C) Copyright 2016-2017 Omron Adept Technologies

    This 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 software 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 software; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/


#ifndef STAGE_ROBOT_FACTORY_HH_
#define STAGE_ROBOT_FACTORY_HH_

#include "MobileSim.hh"
#include "RobotFactory.hh"
#include "ariaUtil.h"
#include "stage.h"

class StageRobotFactory : public virtual RobotFactory {
public:
  StageRobotFactory(stg_world_t *world, const std::string& modelName, double
start_x, double start_y, double start_th, const MobileSim::Options *userOpts);
  StageRobotFactory(stg_world_t *world, const std::string& modelName, 
    mobilesim_get_pose_cb_t get_start_cb, 
    mobilesim_get_bounds_cb_t get_bounds_cb, bool start_outside_bounds,
    const MobileSim::Options *userOpts);
  virtual ~StageRobotFactory() {} 
protected:
  virtual RobotInterface *createRobot(const std::string& modelName, const std::string& requestedRobotName = "");
  virtual RobotInterface *createStubRobot(const std::string& modelName, const std::string& requestedRobotName = "");
  virtual void log_s(const char *msg) { stg_print_msg("Robot Factory: %s", msg); }
  virtual void log(const char *fmt, ...)
  {
    va_list args;
    va_start(args, fmt);
    stg_print_msg_v(fmt, args);
    va_end(args);
  }
private:
  stg_world_t* myWorld;
  bool myUseFixedStartPos;
  stg_pose_t myStartPos;
  mobilesim_get_pose_cb_t *myGetStartCB;
  mobilesim_get_bounds_cb_t *myGetBoundsCB;
  bool myStartOutsideBounds;
};


#endif