text: /*
      <one line to give the program's name and a brief idea of what it does.>
      Copyright (C) 2013  <copyright holder> <email>
  
      This program is free software: you can redistribute it and/or modify
      it under the terms of the GNU General Public License as published by
      the Free Software Foundation, either version 3 of the License, or
      (at your option) any later version.
  
      This program is distributed in the hope that it will be useful,
      but WITHOUT ANY WARRANTY; without even the implied warranty of
      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      GNU General Public License for more details.
  
      You should have received a copy of the GNU General Public License
      along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
  
  
  #ifndef ROBOTMOBILE_H
  #define ROBOTMOBILE_H
  
  #include "vprobot.h"
  
  class RobotMobile : public vpRobot
  {
  public:
  virtual void getPoseFromConfiguration(mrpt::poses::CPose3D &pose, std::vector< double, std::allocator< double > > q);
  virtual void getHTMfromConfiguration(BoostMatrix& HTM, std::vector< double, std::allocator< double > > q);
  virtual bool init();
  // virtual bool setVelocities(std::vector< double > velocities);
  RobotMobile();
  };
  
  
  
  class RobotMobileDummie : public RobotMobile{
  protected:
    std::vector<double> currentConfig;
  
  public:
  RobotMobileDummie();
    virtual void getCurrentConfiguration(std::vector< double >& q);
  
    virtual bool moveToConfiguration(std::vector< double > configuration);
  
    virtual float executeTrajectory(std::vector< std::vector< double > > controls, double delta_t, std::vector< double > goal_q);
  
    virtual float executeMovement();
    
    virtual bool setVelocities(std::vector< double > velocities);
    
    virtual void updateRobotLocalization(mrpt::poses::CPose3D transformation);
  }; 
  
  
  
  #endif // ROBOTMOBILE_H
  