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# /Users/fpy/titan-1-5-MBARI/Mers/Executives/DeductiveController/MR_connection.h

    00001 //=============================================================================
    00002 //
    00003 // Copyright (c) 2001           Model-based Embedded and Robotic Systems Group
    00004 // All Rights Reserved          Massachusetts Institute of Technology
    00005 //
    00006 // This software is provided as is. Model-based Embedded and Robotic Systems
    00007 // (MERS) group does not assume any responsibility.
    00008 //
    00009 // Author:                      Andreas F. Wehowsky, Paul H. Elliott
    00010 // Organization:        Model-based Embedded and Robotic Systems Group
    00011 //                                      Massachusetts Institute of Technology
    00012 //
    00013 // MR_connection class
    00014 //
    00015 //# CHECKED PHE 08/07/2002
    00016 //=============================================================================
    00017
    00018 #ifndef MR_CONNECTION_H
    00019 #define MR_CONNECTION_H
    00020
    00021 #include "../Utils/intList.h"
    00022
    00023 class MR_connection
    00024 {
    00025 public:
    00026         MR_connection() {};
    00027         virtual ~MR_connection() {};
    00028
    00029         // dispatch message from SCL to update a state in the MR engine
    00030         virtual void update_current_state(unsigned int variable_index,
    00031                                           unsigned int value_index) const = 0;
    00032
    00033         // Send a list of goal (pairs of state variables and values)
    00034         // and returns a new control command from MR to SCL
    00035         virtual intList generate_commands(intList & goals) = 0;
    00036
    00037 };
    00038
    00039 #endif
    00040