Environment.h

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00001 //
00002 // C++ Interface: Environment
00003 //
00004 // Description: Environment description
00005 //
00006 //
00007 // Author: Michel Tokic <michel@tokic.com>, (C) 2009
00008 //
00009 // Copyright: See COPYING file that comes with this distribution
00010 //
00011 //
00012 #ifndef _ENVIRONMENT_H_
00013 #define _ENVIRONMENT_H_
00014 
00015 #include "FeedbackSensor.h"
00016 #include "BioloidServo.h"
00017 
00021 typedef struct actionReturn {
00022      ENV_POS state;
00023      int reward;
00024 } ACTION_RETURN;
00025 
00026 
00030 class Environment {
00031 
00032 private:
00033 
00034      FeedbackSensor* r;
00035 
00036      BioloidServo* servo_x;
00037      BioloidServo* servo_y;
00038 
00039      ENV_POS currentPos;
00040      ENV_POS discretization;
00041 
00042 public:
00043      Environment(ENV_POS* discretization);
00044      ~Environment();
00045      void doAction(unsigned int action, unsigned int delayTime, ACTION_RETURN* actionReturn);
00046      void beamRobotToState(ENV_POS* pos);
00047      void setDiscretization(ENV_POS* discretization);
00048      void getDiscretization(ENV_POS* discretization);
00049      void getCurrentState(ENV_POS* pos);
00050      bool isValidAction(ENV_POS* pos, unsigned char action);
00051 };
00052 
00053 
00054 #endif

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