Orocos Real-Time Toolkit
2.5.0
|
00001 /*************************************************************************** 00002 tag: Peter Soetens Mon Jan 19 14:11:21 CET 2004 ConditionComposite.hpp 00003 00004 ConditionComposite.hpp - description 00005 ------------------- 00006 begin : Mon January 19 2004 00007 copyright : (C) 2004 Peter Soetens 00008 email : peter.soetens@mech.kuleuven.ac.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU General Public * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 #ifndef CONDITIONCOMPOSITE_HPP 00039 #define CONDITIONCOMPOSITE_HPP 00040 00041 #include "rtt-scripting-config.h" 00042 #include "ConditionInterface.hpp" 00043 00044 namespace RTT { namespace scripting { 00045 00046 00050 class RTT_SCRIPTING_API ConditionBinaryCompositeAND 00051 : public ConditionInterface 00052 { 00053 ConditionInterface* lhs; 00054 ConditionInterface* rhs; 00055 public: 00061 ConditionBinaryCompositeAND( ConditionInterface* l, ConditionInterface* r ) 00062 : lhs( l ), rhs( r ) 00063 { 00064 } 00065 00066 virtual ConditionInterface* clone() const 00067 { 00068 return new ConditionBinaryCompositeAND( lhs->clone(), rhs->clone() ); 00069 } 00070 00071 ConditionBinaryCompositeAND* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const { 00072 return new ConditionBinaryCompositeAND(lhs->copy(alreadyCloned),rhs->copy(alreadyCloned)); 00073 } 00074 00075 virtual ~ConditionBinaryCompositeAND() { 00076 delete lhs; 00077 delete rhs; 00078 } 00079 00080 virtual bool evaluate() { 00081 if ( lhs->evaluate() ) 00082 if ( rhs->evaluate() ) 00083 return true; 00084 return false; 00085 } 00086 00087 virtual void reset() 00088 { 00089 lhs->reset(); 00090 rhs->reset(); 00091 } 00092 }; 00093 00094 /* 00095 * Compose an 'OR' function of two Conditions. 00096 */ 00097 class RTT_SCRIPTING_API ConditionBinaryCompositeOR 00098 : public ConditionInterface 00099 { 00100 ConditionInterface* lhs; 00101 ConditionInterface* rhs; 00102 public: 00108 ConditionBinaryCompositeOR( ConditionInterface* l, ConditionInterface* r ) 00109 : lhs( l ), rhs( r ) 00110 { 00111 } 00112 00113 virtual ConditionInterface* clone() const 00114 { 00115 return new ConditionBinaryCompositeOR( lhs->clone(), rhs->clone() ); 00116 } 00117 00118 ConditionBinaryCompositeOR* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const { 00119 return new ConditionBinaryCompositeOR(lhs->copy(alreadyCloned),rhs->copy(alreadyCloned)); 00120 } 00121 00122 virtual ~ConditionBinaryCompositeOR() { 00123 delete lhs; 00124 delete rhs; 00125 } 00126 00127 virtual bool evaluate() { 00128 if ( lhs->evaluate() ) 00129 return true; 00130 if ( rhs->evaluate() ) 00131 return true; 00132 return false; 00133 } 00134 00135 virtual void reset() 00136 { 00137 lhs->reset(); 00138 rhs->reset(); 00139 } 00140 }; 00141 00142 class RTT_SCRIPTING_API ConditionCompositeNOT 00143 : public ConditionInterface 00144 { 00145 ConditionInterface* cond; 00146 public: 00147 ConditionCompositeNOT( ConditionInterface* c ) 00148 : cond( c ) 00149 { 00150 } 00151 ~ConditionCompositeNOT(); 00152 bool evaluate(); 00153 ConditionCompositeNOT* clone() const; 00154 ConditionCompositeNOT* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const; 00155 void reset(); 00156 }; 00157 }} 00158 00159 #endif