- Main Page
- Namespaces
- Classes
- Files
- Related Pages

# /Users/fpy/titan-1-5-MBARI/Mers/Executives/DeductiveController/Stub/DCStub.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 MERS_EXECUTIVES_DEDUCTIVECONTROLLER_STUB_DC_STUB_HEADER_FILE
    00015 #define MERS_EXECUTIVES_DEDUCTIVECONTROLLER_STUB_DC_STUB_HEADER_FILE
    00016
    00017 #include <Mers/Executives/DeductiveController/DCInterface.h>
    00018
    00019 #define MAX_GOALS 500
    00020
    00021 namespace Mers {
    00022         namespace Executives {
    00023                 namespace DeductiveController {
    00024                         namespace Stub {
    00025
    00031                                 class DCStub : public DCInterface
    00032                                 {
    00033                                 public:
    00037                                         DCStub(Mers::Models::Base::BaseModel * model);
    00038
    00040                                         // Interface Functions for ExecutionInterface
    00042
    00061                                         virtual int step( bool block = true );
    00062
    00064                                         // Interface Functions for Mode Estimation
    00065                                         //
    00066                                         // There appear to be two types of ME interface methods:
    00067                                         // those which use RTAPI timers and those that do not.
    00068                                         // When the RTAPI timers are used, it is unnecessary to
    00069                                         // explicitly request mode estimates from the engine
    00070                                         // (i.e. find candidates/fc).  The timers will invoke
    00071                                         // mode estimation at the appropriate time.
    00073
    00082                                         virtual void setInitialState(unsigned int state_index,
    00083                                                                                                                                                          unsigned int value_index);
    00084
    00089                                         virtual void requestAbort();
    00090
    00097                                         virtual void requestFullState();
    00098
    00100                                         // Interface Functions for Mode Reconfiguration
    00102
    00114                                         virtual void requestMR();
    00115                                 };
    00116                         }
    00117                 }
    00118         }
    00119 }
    00120
    00121 #endif // MERS_EXECUTIVES_DEDUCTIVECONTROLLER_STUB_DC_STUB_HEADER_FILE