SNonControlTaskBase.hpp

/* This file is part of scl, a control and simulation library
for robots and biomechanical models.

scl is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.

Alternatively, 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.

scl 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.

You should have received a copy of the GNU Lesser General Public
License and a copy of the GNU General Public License along with
scl. If not, see <http://www.gnu.org/licenses/>.
*/
/* \file SNonControlTaskBase.hpp
 *
 *  Created on: Jun 30, 2012
 *
 *  Copyright (C) 2012
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef SNONCONTROLTASKBASE_HPP_
#define SNONCONTROLTASKBASE_HPP_

#include <scl/DataTypes.hpp>
#include <scl/data_structs/SObject.hpp>
#include <string>
#include <vector>

namespace scl
{
  //Forward declaration allows pointers to the parent controller
  class SControllerMultiTask;

  class SNonControlTaskBase : public SObject
  {
  public:
    const SControllerMultiTask* parent_controller_;

    std::string type_task_;

    scl::sBool has_been_activated_;

    std::vector<sString2> task_nonstd_params_;

    SNonControlTaskBase();

    bool init(const std::string & arg_name,
        const std::string & arg_type,
        const std::vector<scl::sString2>& arg_nonstd_params);

    bool setParentController(const SControllerMultiTask* arg_parent);

    virtual bool initTaskParams()=0;
  };
}
#endif /* SNONCONTROLTASKBASE_HPP_ */