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# /Users/fpy/titan-1-5-MBARI/Mers/Executives/DeductiveController/Rtapi/RTAPICallback.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 #if !defined(RTAPI_CALLBACK)
    00015 #define RTAPI_CALLBACK
    00016
    00017 namespace Mers {
    00018         namespace Utils {
    00019                 namespace Containers {
    00020                         class intList;
    00021                 }
    00022         }
    00023         namespace Executives {
    00024                 namespace DeductiveController {
    00025                         namespace Rtapi {
    00026
    00027                                 namespace ME {
    00028                                         class ME_rtapi;
    00029                                 }
    00030                                 namespace MR {
    00031                                         class MR_rtapi;
    00032                                 }
    00033
    00042                                 class RTAPICallback
    00043                                 {
    00044                                 public:
    00046                                         // Public Constructors, Copy Constructors, & Destructors
    00048
    00049
    00051                                         // Public Function Members
    00053
    00062                                         virtual void post_mode_estimate(Mers::Utils::Containers::intList const &updated_mode_estimate) = 0;
    00063
    00072                                         virtual void post_full_state(Mers::Utils::Containers::intList const &full_mode_estimate) = 0;
    00073
    00081                                         virtual void post_observation(unsigned int varUID, unsigned int valUID) = 0;
    00082
    00096                                         virtual void process_next_control_cmd(Mers::Utils::Containers::intList const &commands) = 0;
    00097
    00098                                 };
    00099                         }
    00100                 }
    00101         }
    00102 }
    00103
    00104 #endif // !defined(RTAPI_CALLBACK)