Modules/SelfLocator/SelfLocatorSelector.h

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

#ifndef __SelfLocatorSelector_h_
#define __SelfLocatorSelector_h_

#include "Tools/Module/ModuleSelector.h"

#include "GT2005SelfLocator/GT2005SelfLocator.h"
#include "GT2005StableSelfLocator/GT2005StableSelfLocator.h"
#include "GT2004SelfLocator.h"
#include "SlamSelfLocator/SlamSelfLocator.h"
#include "GTCamSelfLocator.h"
#include "OdometrySelfLocator.h"
#include "ComboLocator.h"

/**
* SelfLocator selection module.
*
* A selector for self locators
*/
class SelfLocatorSelector : public ModuleSelector, public SelfLocatorInterfaces
{
public:
/**
* Constructor.
* @param handler The module handler of the process.
* @param interfaces The paramters of the SelfLocator module.
  */
  SelfLocatorSelector(ModuleHandler &handler, const SelfLocatorInterfaces& interfaces)
    : ModuleSelector(SolutionRequest::selfLocator),
    SelfLocatorInterfaces(interfaces)
  {
    handler.setModuleSelector(SolutionRequest::selfLocator, 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::gt2005SelfLocator:
      return new GT2005SelfLocator(*this);

    case SolutionRequest::gt2005StableSelfLocator:
      return new GT2005StableSelfLocator(*this);
      
    case SolutionRequest::gt2004SelfLocator:
      return new GT2004SelfLocator(*this);

    case SolutionRequest::odometrySelfLocator:
      return new OdometrySelfLocator(*this);

    case SolutionRequest::gtCamSelfLocator:
      return new GTCamSelfLocator(*this);

    case SolutionRequest::slamSelfLocator:
      return new SlamSelfLocator(*this); // replace later

    case SolutionRequest::comboSelfLocator:
      return new ComboLocator(*this); // replace later


    default:
      return 0;
    }
  }

};

#endif // __SelfLocatorSelector_h_

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