slamEvents.hpp

/* $Id$ */

#ifndef SLAM_SLAM_EVENTS_HPP
#define SLAM_SLAM_EVENTS_HPP

namespace jafar {
  namespace slam {

    // fwd declarations
    class BaseFeature;
    class SlamEkf;

    class SlamEventListener {

    public:
      enum Type {
        ADD_LANDMARK = 0,
        REMOVE_LANDMARK = 1,
        LANDMARK = ADD_LANDMARK | REMOVE_LANDMARK,
        BEGIN_PROCESS_OBSERVATIONS = 2,
        END_PROCESS_OBSERVATIONS = 4,
        PROCESS_OBSERVATIONS = BEGIN_PROCESS_OBSERVATIONS | END_PROCESS_OBSERVATIONS,
        ALL = LANDMARK | PROCESS_OBSERVATIONS
      };
    protected:

      virtual ~SlamEventListener() {}

      virtual void addLandmark(BaseFeature const& landmark) = 0;
      virtual void removeLandmark(BaseFeature const& landmark) = 0;

      virtual void beginProcessObservations(unsigned int robotId_) = 0;
      virtual void endProcessObservations(unsigned int robotId_) = 0;

      friend class SlamEkf;

    };

    class SlamEventAdapter : public SlamEventListener {

    protected:

      virtual ~SlamEventAdapter() {}

      virtual void addLandmark(BaseFeature const& landmark) {};
      virtual void removeLandmark(BaseFeature const& landmark) {};

      virtual void beginProcessObservations(unsigned int robotId_) {};
      virtual void endProcessObservations(unsigned int robotId_) {};

    };

    // fwd declarations
    class InitFeature;
    class BearingOnlySlam;

    class BoSlamEventListener : public SlamEventListener {

    protected:

      virtual ~BoSlamEventListener() {}

      virtual void addTentativeLandmark(InitFeature const& landmark) = 0;
      virtual void removeTentativeLandmark(InitFeature const& landmark) = 0;

      friend class BearingOnlySlam;

    };

    class BoSlamEventAdapter : public BoSlamEventListener {

    protected:

      virtual ~BoSlamEventAdapter() {}

      virtual void addLandmark(BaseFeature const& landmark) {};
      virtual void removeLandmark(BaseFeature const& landmark) {};
      virtual void beginProcessObservations(unsigned int robotId_) {};
      virtual void endProcessObservations(unsigned int robotId_) {};
      virtual void addTentativeLandmark(InitFeature const& landmark) {};
      virtual void removeTentativeLandmark(InitFeature const& landmark) {};

    };

  } // namespace slam
} // namespace jafar

#endif // SLAM_SLAM_EVENTS_HPP