robot/Controllable

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/* **-*-c++-*-**************************************************************
  Copyright (C)2002 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
        
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
        
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

  $Id: Controllable 1039 2004-02-11 20:50:52Z jungd $
  $Revision: 1.5 $
  $Date: 2004-02-11 15:50:52 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _ROBOT_CONTROLLABLE_
#define _ROBOT_CONTROLLABLE_

#include <robot/robot>

#include <robot/ControlInterface>


namespace robot {

/// Abstract interface for things that can be controlled
/**
 *  (via the ControlInterfaces they provide)
 *  e.g. a Robot, a low-level Controller
 */
class Controllable : virtual public base::ReferencedObject
{
public:

  /// Provide ControlInterface for named interface (or default/possibly-only interface)
  /** @exception std::invalid_argument if the specified interface name is unknown. */
  virtual ref<ControlInterface> getControlInterface(String interfaceName="") throw(std::invalid_argument) = 0;

};


} // robot

#endif

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