tgDataManager.h

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#ifndef TG_DATA_MANAGER_H
#define TG_DATA_MANAGER_H

// This application
#include "core/tgSenseable.h" //not sure why this needs to be included vs. just declared...
// The C++ Standard Library
#include <string>
#include <sstream>
#include <iostream>
#include <vector>

// Forward declarations
class tgSensor;
class tgSensorInfo;

class tgDataManager
{
public: 

    tgDataManager();

    virtual ~tgDataManager();
    
    virtual void setup();
    
    virtual void teardown();

    virtual void step(double dt);

    virtual void addSenseable(tgSenseable* pSenseable);

    virtual void addSensorInfo(tgSensorInfo* pSensorInfo);
                
    virtual std::string toString() const;

 private:

    void addSensorsHelper(tgSenseable* pSenseable);

protected:

    // Integrity predicate.
    bool invariant() const;

    std::vector<tgSensor*> m_sensors;

    std::vector<tgSensorInfo*> m_sensorInfos;

    std::vector<tgSenseable*> m_senseables;

};

std::ostream&
operator<<(std::ostream& os, const tgDataManager& obj);

#endif // TG_DATA_MANAGER_H