CParserBase.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 CParserBase.hpp
 *
 *  Created on: May, 2010
 *
 *  Copyright (C) 2010
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef CPARSERBASE_HPP_
#define CPARSERBASE_HPP_

//Data structures passed to the branching template
#include <scl/data_structs/SRigidBody.hpp>
#include <scl/data_structs/SRobotParsed.hpp>
#include <scl/data_structs/SGraphicsParsed.hpp>
#include <scl/data_structs/SActuatorSetMuscleParsed.hpp>
#include <scl/data_structs/SUIParsed.hpp>

#include <scl/control/gc/data_structs/SControllerGc.hpp>
#include <scl/control/task/data_structs/SControllerMultiTask.hpp>

#include <string>
#include <vector>
#include <Eigen/Eigen>
#include <scl/DataTypes.hpp>

namespace scl
{
  class CParserBase
  {
  public:
    CParserBase() {}

    virtual ~CParserBase(){}

    virtual bool listRobotsInFile(const std::string& arg_file,
        std::vector<std::string>& arg_robot_names)=0;

    virtual bool readRobotFromFile(const std::string& arg_file,
        const std::string& arg_robot_name,
        scl::SRobotParsed& arg_robot)=0;

    virtual bool saveRobotToFile(scl::SRobotParsed& arg_robot,
        const std::string &arg_file)
    { return false; }

    virtual bool listMuscleSysInFile(const std::string& arg_file,
        std::vector<std::string>& arg_msys_names)
    { return S_NULL;  }

    virtual bool readMuscleSysFromFile(const std::string& arg_file,
                const std::string& arg_msys_name,
                scl::SActuatorSetMuscleParsed& arg_msys)
    { return false; }

    virtual bool listGraphicsInFile(const std::string& arg_file,
            std::vector<std::string>& arg_graphics_names)
    { return false;  }

    virtual bool readGraphicsFromFile(const std::string &arg_file,
        const std::string &arg_graphics_name,
        scl::SGraphicsParsed& arg_graphics)
    { return false; }

    virtual bool listUISpecsInFile(const std::string& arg_file,
              std::vector<std::string>& arg_ui_spec_names)
    { return false; }

    virtual bool readUISpecFromFile(const std::string &arg_file,
        const std::string &arg_ui_spec_name,
        scl::SUIParsed& arg_ui_spec)
    { return false; }

    virtual bool listControllersInFile(const std::string &arg_file,
          std::vector<std::pair<std::string,std::string> > &arg_ctrl_name_and_type)
    { return false; }

    virtual bool readGcControllerFromFile(const std::string &arg_file,
        const std::string &arg_ctrl_name,
        std::string &ret_must_use_robot,
        scl::SControllerGc& arg_ctrl)
    { return false; }

    virtual bool readTaskControllerFromFile(const std::string &arg_file,
        const std::string &arg_ctrl_name,
        std::string &ret_must_use_robot,
        std::vector<scl::STaskBase*> &ret_taskvec,
        std::vector<scl::SNonControlTaskBase*> &ret_task_non_ctrl_vec)
    { return false; }
};

}//End of namespace scl_parser

#endif /*CPARSERBASE_HPP_*/