AbstractPlanner.h

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/*
 * Copyright (C) by
 *   MetraLabs GmbH (MLAB), GERMANY
 *  and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Redistribution and modification of this code is strictly prohibited.
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MIRA_PILOT_ABSTRACTPLANNER_H_
#define _MIRA_PILOT_ABSTRACTPLANNER_H_

#include <factory/Factory.h>
#include <transform/Pose.h>
#include <transform/Velocity.h>

#include <navigation/Task.h>

#include <pilot/DissatisfactionReasons.h>
#include <pilot/Module.h>

namespace mira { namespace pilot {



class Pilot;

class AbstractPlanner : public Module
{
    MIRA_ABSTRACT_OBJECT(AbstractPlanner);
public:
    virtual ~AbstractPlanner() {}

    virtual void setTask(boost::shared_ptr<navigation::Task> task) = 0;

    virtual bool reachedTasks() = 0;

    virtual bool satisfied() = 0;

    virtual void resetDissatisfaction() = 0;

    virtual std::list<DissatisfactionReason> getDissatisfactionReasons() = 0;

    virtual Velocity2 planMotion() = 0;

    virtual void update() = 0;

    virtual void plan(Duration plantime) = 0;

    virtual void updateRobotModel() {};
};


}} // namespace

#endif