objectAbstract.hpp

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#ifndef OBJECTABSTRACT_HPP_
#define OBJECTABSTRACT_HPP_

#include <string>
#include <vector>

#include "rtslam/rtSlam.hpp"

namespace jafar {
  namespace rtslam {

    namespace display {
      class DisplayDataAbstract;
    }

    class ObjectAbstract {

        friend std::ostream& operator <<(std::ostream & s, ObjectAbstract const & obj);

      public:
        typedef enum {
          FOR_SIMULATION 
        } simulation_t;

        enum category_enum { WORLD, MAP, OBJECT, MAPPABLE_OBJECT, ROBOT, SENSOR, LANDMARK, OBSERVATION, FEATURE, APPEARANCE, RAW, DATA_MANAGER};

      private:
        std::size_t id_;

        std::string name_;

      protected:
        category_enum category;

      public:
        ObjectAbstract();
        virtual ~ObjectAbstract();
        inline void id(std::size_t _id) {
          id_ = _id;
        }
        inline void name(std::string _name) {
          name_ = _name;
        }
        inline const std::size_t & id() const {
          return id_;
        }
        inline std::size_t & id() {
          return id_;
        }
        inline const std::string & name() const {
          return name_;
        }
        inline std::string & name() {
          return name_;
        }
        virtual std::string categoryName() const {
          return "OBJECT";
        }
        virtual std::string typeName() const {
          return "Undefined";
        }

        inline void setup(const category_enum & _category, const size_t _id, const std::string & _name) {
          category = _category;
          id(_id);
          name(_name);
        }
        inline void setup(const size_t _id, const std::string & _name) {
          id(_id);
          name(_name);
        }
        virtual void destroyDisplay();
        std::vector<display::DisplayDataAbstract*> displayData;
    };
  }
}

#endif /* OBJECTABSTRACT_HPP_ */