server/ServerBase.h

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#ifndef ServerBase_h
#define ServerBase_h 1

#include <CollisionDetectors/collisionDetectorType.h>
#include <planners/plannerType.h>
#include "kinematics/Configuration.h"
#include "CollisionDetectors/CD_Vcollide.h"
#include "Paths/PathBase.h"
#include "OpenGL/GL_Universe.h"
#include "Planners/PL_HasCollisionDetector.h"
#include "smoothers/smootherType.h"
#include "smoothers/SmootherBase.h"

class CD_BasicStyle;
class DH_Link;
class IfstreamWithComments;
class ObjectBase;
class PL_Juan;
class PL_Sequential;
class R_OpenChain;
class SM_Midpoint;
class VRML_20_Reader;
class VRML_Reader;

class ServerBase 
{
  public:
      ServerBase ();
      virtual ~ServerBase();

      //sets the root path for loading files
      void SetRootPath( const char* path );
      void SetMPKWorkingDirectory( const char* path );

    //## Other Operations (specified)
      //## Operation: R_ThreeCylinderRobot%932600045
      void R_ThreeCylinderRobot ();

          //opens up an entire saved example
          bool OpenExampleFile( const char* filename );
          //Save an entire example
          bool SaveExampleFile( const char* filename );

      //## Operation: ParseRobotFile%935034310
      bool ParseRobotFile (const char* filename);

      //## Operation: ParseRobotOpenChain%935084508
      void ParseRobotOpenChain (IfstreamWithComments& is);

      //## Operation: ParseObstacleFile%936229638
      bool ParseObstacleFile (const char* filename);

      //## Operation: SetCollisionDetector%950474924
      bool SetCollisionDetector (CollisionDetectorType collisionDetectorType);

      //## Operation: RefreshCollisionDetector%950474925
      //        Refreshes the collision detector under the assumption
      //        that some of the geometry in the universe has changed
      bool RefreshCollisionDetector ();

      //## Operation: RefreshRobotFile%950480128
      bool RefreshRobotFile ();

      //## Operation: GetRobot%950480129
      const RobotBase* GetRobot (const char* const filename) const;

      //## Operation: GetMPKObject%950480130
      const ObjectBase* GetMPKObject (const char* const filename) const;

      //## Operation: GetFrame%950480131
      const Frame GetFrame (const char* const name) const;

      //## Operation: SetPlanner%958847982
      //        sets the planner that this server object will use by
      //        default.  the return value should be checked and
      //        respected.
      bool SetPlanner (PlannerType plannerType);

      //## Operation: RefreshPlanner%958847983
      //        Refreshes the planner.  This assumes that the collision
      //        detector has changed.
      bool RefreshPlanner ();

      //## Operation: GetPlannerType%958953409
      //        returns the type of planner that the server is currently
      //        set to use
      PlannerType GetPlannerType ();

      //## Operation: GetCollisionDetectorType%958953410
      //        returns the type of planner that the server is currently
      //        set to use
      CollisionDetectorType GetCollisionDetectorType ();

          //Settup the smoother.
          bool SetSmoother (SmootherType smootherType);
          SmootherType GetSmootherType ();
          bool RefreshSmoother();

          //Parameter setup
          void *GetPlannerParameters();
          bool SetPlannerParameters(const void *param);

          bool LoadUserObstacle( const char *obsfile );
          bool SaveUserObstacle( const char *obsfile );
          bool AddObstacle( double x, double y );
      // Data Members for Associations

      //## Association: MPKserver::<unnamed>%379616AC0214
      //## Role: ServerBase::collisionDetector%379616AC03D7
      //## begin ServerBase::collisionDetector%379616AC03D7.role preserve=no  public: CD_BasicStyle { -> 1UFHAN}
      CD_BasicStyle* collisionDetector;
      //## end ServerBase::collisionDetector%379616AC03D7.role

      //## Association: MPKserver::<unnamed>%379616D50046
      //## Role: ServerBase::planner%379616D600AC
      //## begin ServerBase::planner%379616D600AC.role preserve=no  public: PL_HasCollisionDetector { -> 1UHAN}
      PL_HasCollisionDetector* planner;

          SmootherBase* smoother;
      //## end ServerBase::planner%379616D600AC.role

      //## Association: MPKserver::<unnamed>%379616EA015F
      //## Role: ServerBase::universe%379616EA0371
      //## begin ServerBase::universe%379616EA0371.role preserve=no  public: GL_Universe { -> 1VHAN}
      GL_Universe universe;
      //## end ServerBase::universe%379616EA0371.role

      //## Association: MPKserver::<unnamed>%38A7194B0316
      //## Role: ServerBase::currentConfig%38A7194B03B7
      //## begin ServerBase::currentConfig%38A7194B03B7.role preserve=no  public: Configuration { -> VFHAN}
      Configuration m_CurrentConfig;
          Configuration m_GoalConfig;
          Configuration m_StartConfig;
      //## end ServerBase::currentConfig%38A7194B03B7.role

    // Additional Public Declarations
      //## begin ServerBase%37AB2C4702C6.public preserve=yes
          Vector4 m_CameraPosition;
          Vector4 m_CameraLookat;
          Vector4 m_CameraUp;
      Vector4 m_CspaceCameraPosition;
      Vector4 m_CspaceCameraLookat;
      Vector4 m_CspaceCameraUp;
          PA_Points m_Path ;
          const char* GetRobotFilename() const;
          const char* GetObstacleFilename() const;
      //## end ServerBase%37AB2C4702C6.public
  protected:
      void ParseCspaceCamera( IfstreamWithComments& is );
      void ParseGoalFrames  ( IfstreamWithComments& is );

      CollisionDetectorType collisionDetectorType;
      bool planPassed;
      char filename[ 256 ];
      char rootpath[ 256 ];
      char obstacleFilename[ 256 ];
      PlannerType plannerType;
          SmootherType smootherType;

  protected:
          std::vector<Matrix4x4> userObstacles;
};

//## begin ServerBase%37AB2C4702C6.postscript preserve=yes
//## end ServerBase%37AB2C4702C6.postscript

// Class ServerBase 

//## begin module%37AB2C4702C6.epilog preserve=yes
//## end module%37AB2C4702C6.epilog


#endif

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