dataManagerAbstract.hpp

Go to the documentation of this file.

#ifndef DATAMANAGERABSTRACT_HPP_
#define DATAMANAGERABSTRACT_HPP_

#include "rtslam/parents.hpp"
#include "rtslam/sensorAbstract.hpp"
#include "rtslam/mapManager.hpp"

namespace jafar {
  namespace rtslam {

    class ObservationAbstract;

    class DataManagerAbstract
      : public ParentOf<ObservationAbstract>
      , public ChildOf<SensorExteroAbstract>
      , public ChildOf<MapManagerAbstract>
      , public boost::enable_shared_from_this<DataManagerAbstract>
      , public kernel::DataLoggable
    {
    public:
      // define the function linkToParentSensor().
      ENABLE_LINK_TO_PARENT(SensorExteroAbstract,Sensor,DataManagerAbstract);
      // define the functions sensorPtr() and sensor().
      ENABLE_ACCESS_TO_PARENT(SensorExteroAbstract,sensor);
      // define the function linkToParentMapManager().
      ENABLE_LINK_TO_PARENT(MapManagerAbstract,MapManager,DataManagerAbstract);
      // define the functions mapManagerPtr() and mapManager().
      ENABLE_ACCESS_TO_PARENT(MapManagerAbstract,mapManager);
      // define the type ObservationList, and the function observationList().
      ENABLE_ACCESS_TO_CHILDREN(ObservationAbstract,Observation,observation);

    protected:
      boost::shared_ptr<ObservationFactory> obsFactory;
    public:
      void setObservationFactory( boost::shared_ptr<ObservationFactory> of ) { obsFactory=of; }
      boost::shared_ptr<ObservationFactory> observationFactory( void ) { return obsFactory; }

    public:
      virtual ~DataManagerAbstract(void) {}

      virtual void processKnown(raw_ptr_t data, double date_limit = -1.) = 0;
      virtual void detectNew(raw_ptr_t data) = 0;
      //virtual void process( boost::shared_ptr<RawAbstract> data ) = 0;
      virtual void dump(raw_ptr_t data) = 0;

    };

  }
}//namespace jafar::rtslam
#endif /* DATAMANAGERABSTRACT_HPP_ */