behaviour.h

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// Behaviour Control Framework - Behaviour class
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>

// Ensure header is only included once
#ifndef BEHAVIOUR_H
#define BEHAVIOUR_H

// Includes
#include <behaviour_control/classes/behaviour_common.h>

// Behaviour control namespace
namespace behaviourcontrol
{
    class Behaviour
    {
    public:
        // Constants
        static const index_t DEF_ILIST_CAPACITY; 
        static const std::string DEF_BEHAVIOUR_NAME; 

        // Constructors
        explicit Behaviour(BehaviourLayer* LBase, const std::string& name = nullString); 
        virtual ~Behaviour(); 

        // Constant properties
        BehaviourManager* const MBase; 
        BehaviourLayer* const LBase; 
        const std::string Mname; 
        const std::string Lname; 
        const std::string name; 

    private:
        // Inhibition lists
        static void addInhibition(Behaviour* BBaseA, Behaviour* BBaseB); 
        std::vector<Behaviour*> inhibits; 
        std::vector<Behaviour*> isInhibitedBy; 

        // Initialisation functions
    protected:
        virtual ret_t init() { return RET_OK; } 

        // Update and execute functions
    protected:
        virtual void update() {} 
        virtual void execute() {} 
        virtual void inhibited() {} 
        bool wasJustActivated() const { return justActivated; } 
        bool wasJustDeactivated() const { return justDeactivated; } 
    private:
        bool justActivated; 
        bool justDeactivated; 

        // Activation levels
    public:
        level_t getA() const { return trueA; } 
    protected:
        virtual level_t computeActivationLevel() { return 0.0; } 
    private:
        level_t rawA; 
        level_t trueA; 

    public:
        // Get functions
        std::string getUniqueName(const BehaviourLayer* LBase) const; 
        Behaviour* getBasePtr() { return this; } 

        // Friend classes
        friend class BehaviourLayer;
    };
}

#endif /* BEHAVIOUR_H */
// EOF