Modules/GetupEngine/GetupEngineSelector.h

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/**
* @file GetupEngineSelector.h
* 
* Declares the GetupEngine selection module
* @author Max Risler
*/

#ifndef __GetupEngineSelector_h_
#define __GetupEngineSelector_h_

#include "Tools/Module/ModuleHandler.h"
#include "GT2005GetupEngine.h"

/**
* @class GetupEngineSelector
*
* A module selector for GetupEngine modules.
*/
class GetupEngineSelector : public ModuleSelector, public GetupEngineInterfaces
{
public:
/**
* Constructor.
* @param handler The module handler of the process.
* @param interfaces The paramters of the GetupEngine module.
  */
  GetupEngineSelector(ModuleHandler &handler, const GetupEngineInterfaces& interfaces) 
    : ModuleSelector(SolutionRequest::getupEngine),
    GetupEngineInterfaces(interfaces)
  {
    handler.setModuleSelector(SolutionRequest::getupEngine,this);
  }
  
  /** 
  * Is called on start and when the selected solution changes
  * to create a specific solution.
  * @param id The id of the solution to create
  * @return The created solution or 0
  */
  virtual Module* createSolution(SolutionRequest::ModuleSolutionID id)
  {
    switch (id)
    {
    case SolutionRequest::gt2005GetupEngine:
      return new GT2005GetupEngine(*this);
    default:
      return 0;
    }
  }
  
  /** Executes the module*/
  bool executeParameterized(JointData& jointData)
  {
    if (selectedSolution!=0)
      return ((GetupEngine*)selectedSolution)->executeParameterized(jointData);
    else
      return false;
  }
};

#endif // __GetupEngineSelector_h_

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