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robot/Platform

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/****************************************************************************
  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: Platform,v 1.3 2002/09/14 20:59:49 jungd Exp $
  $Revision: 1.3 $
  $Date: 2002/09/14 20:59:49 $
  $Author: jungd $
 
****************************************************************************/

#ifndef _ROBOT_PLATFORM_
#define _ROBOT_PLATFORM_

#include <robot/robot>
#include <robot/RobotPart>

#include <base/Dimension3>


namespace robot {

/**
 * An abstract description of a Robot's platform 
 *  (typically the mobile base, if any)
 */
class Platform : public RobotPart
{
public:
  virtual bool   isMobile() const    ///< is the robot mobile, or fixed (e.g. to the floor)?
    { return mobile; }
  virtual bool   isHolonomic() const ///< if mobile, is the platform capable of holonomic movement
    { return holonomic; }

  virtual base::Dimension3 getDimensions() const ///< physical platform bounding dimensions (Length, Width, Thickness)
    { return dimensions; }
  
protected:
  Platform() 
    : mobile(false) {}
  Platform(String name) : RobotPart(name), mobile(false) {}
  Platform(const Platform& p)
    : RobotPart(p),
      mobile(p.mobile), holonomic(p.holonomic), dimensions(p.dimensions) {}

  bool   mobile;    
  bool   holonomic; 
  
  base::Dimension3 dimensions; 
};


} // robot

#endif

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