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# /Users/fpy/titan-1-5-MBARI/Mers/Estimation/Discrete/ME_connection.h

    00001
    00002 //
    00003 // Copyright (c) 2004           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 // Organization:        Model-based Embedded and Robotic Systems Group
    00010 //                                      Massachusetts Institute of Technology
    00011 //
    00013
    00014 #ifndef ME_CONNECTION_H
    00015 #define ME_CONNECTION_H
    00016
    00017 #ifndef EMBEDDED
    00018 #include <ostream>
    00019 #endif
    00020
    00021
    00022 namespace Mers {
    00023         namespace Utils {
    00024                 namespace Containers {
    00025                         class intList;
    00026                 }
    00027         }
    00028         namespace Estimation {
    00029                 namespace Discrete {
    00037                         class ME_connection
    00038                         {
    00039                         public:
    00040                                         // return 'false' on failure:
    00048                                 virtual bool progress(unsigned int cmd_index, unsigned int value_index) = 0;
    00049
    00057                                 virtual bool observe(unsigned int obs_index, unsigned int value_index) = 0;
    00058
    00066                                 virtual bool set_initial_state(unsigned int state_index,
    00067                                         unsigned int value_index) = 0;
    00068
    00074                                 virtual const Mers::Utils::Containers::intList * find_mode_estimate() = 0;
    00075
    00081                                 virtual const Mers::Utils::Containers::intList * get_full_state() = 0;
    00082
    00087                                 virtual bool progress_to_estimate() = 0;
    00088
    00089 #ifndef EMBEDDED
    00090
    00098                                 virtual bool printStateVars( std::ostream &out ) const {
    00099                                         (void) out;
    00100                                         return false;
    00101                                 }
    00102
    00111                                 virtual bool printCommandVars( std::ostream &out ) const {
    00112                                         (void) out;
    00113                                         return false;
    00114                                 }
    00115
    00125                                 virtual bool printObservationVars( std::ostream &out ) const {
    00126                                         (void) out;
    00127                                         return false;
    00128                                 }
    00129
    00138                                 virtual bool printDependentVars( std::ostream &out ) const {
    00139                                         (void) out;
    00140                                         return false;
    00141                                 }
    00142
    00151                                 virtual bool printAllVars( std::ostream &out ) const {
    00152                                         (void) out;
    00153                                         return false;
    00154                                 }
    00155 #endif // EMBEDDED
    00156                         };
    00157                 }
    00158         }
    00159 }
    00160
    00161 #endif  // ME_CONNECTION_H
    00162