Modules/RobotStateDetector/RobotStateDetectorSelector.h

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/**
* @file RobotStateDetectorSelector.h
* 
* Definition of class RobotStateDetectorSelector
*
* @author Max Risler
* @author Martin Lötzsch
* @author Matthias Jüngel
*/

#ifndef __RobotStateDetectorSelector_h_
#define __RobotStateDetectorSelector_h_

#include "Tools/Module/ModuleSelector.h"
#include "GT2005RobotStateDetector.h"

/**
* RobotStateDetector selection module.
*
* A selector for robot state selectors
*/
class RobotStateDetectorSelector : public ModuleSelector, public RobotStateDetectorInterfaces
{
public:
/**
* Constructor.
* @param handler The module handler of the process.
* @param interfaces The paramters of the RobotStateDetector module.
  */
  RobotStateDetectorSelector(ModuleHandler &handler, const RobotStateDetectorInterfaces& interfaces)
    : ModuleSelector(SolutionRequest::robotStateDetector),
    RobotStateDetectorInterfaces(interfaces)
  {
    handler.setModuleSelector(SolutionRequest::robotStateDetector, 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::gt2005RobotStateDetector:
      return new GT2005RobotStateDetector(*this);
    default:
      return 0;
    }
  }
};

#endif // RobotStateDetectorSelector_h_

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