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robot.hpp

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+/*************************************************************************************
+ * Copyright (c) 2016, Miguel Angel Astor Romero                                     *
+ * All rights reserved.                                                              *
+ *                                                                                   *
+ * Redistribution and use in source and binary forms, with or without                *
+ * modification, are permitted provided that the following conditions are met:       *
+ *                                                                                   *
+ * 1. Redistributions of source code must retain the above copyright notice, this    *
+ *    list of conditions and the following disclaimer.                               *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,      *
+ *    this list of conditions and the following disclaimer in the documentation      *
+ *    and/or other materials provided with the distribution.                         *
+ *                                                                                   *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND   *
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED     *
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE            *
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR   *
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES    *
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;      *
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND       *
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT        *
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS     *
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                      *
+ *************************************************************************************/
+
+#ifndef ROBOT_HPP
+#define ROBOT_HPP
+
+#include <iostream>
+#include <string>
+#include <libplayerc++/playerc++.h>
+
+/**
+ * Base class for robot types.
+ */
+class Robot {
+public:
+  Robot(std::string hostname, uint32_t port);
+  virtual ~Robot();
+
+  virtual void run() = 0;
+  
+protected:
+  PlayerCc::PlayerClient *    _p_client;
+  PlayerCc::Position2dProxy * _p_proxy;
+};
+
+/**
+ * Concrete robot that implements the IAS-SS architecture as defined in:
+ *
+ *   1) R. Calvo et al. "Inverse ACO for Exploration and Surveillance in
+ *      Unknown Environments", The Third International Conference on Advanced
+ *      Cognitive Technologies and Applications, Rome, Italy 2011.
+ *
+ *   2) R. Calvo et al. "A Distributed, Bio-Inspired Coordination Strategy
+ *      for Multiple Agent Systems Applied to Surveillance Tasks in Unknown
+ *      Environments", Proc. of the IEEE IJCNN, San Jose, USA, 2011.
+ */
+class IASSS_Robot : Robot{
+public:
+  IASSS_Robot(std::string hostname, uint32_t port);
+  virtual ~IASSS_Robot();
+
+  virtual void run();
+};
+
+#endif