ITransformer.h

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/*
 * Copyright (C) 2007-2011 RobotCub Consortium, European Commission FP6 Project IST-004370
 * author:  Arjan Gijsberts
 * email:   arjan.gijsberts@iit.it
 * website: www.robotcub.org
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * 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
 */
 
#ifndef LM_ITRANSFORMER__
#define LM_ITRANSFORMER__
 
#include <sstream>
#include <string>
 
#include <yarp/os/Portable.h>
#include <yarp/os/Bottle.h>
#include <yarp/sig/Vector.h>
 
namespace iCub {
namespace learningmachine {
 
class ITransformer : public yarp::os::Portable {
protected:
    std::string name;
 
    int sampleCount;
 
    virtual void writeBottle(yarp::os::Bottle& bot) const = 0;
 
    virtual void readBottle(yarp::os::Bottle& bot) = 0;
 
public:
    ITransformer() : name(""), sampleCount(0) { }
 
    virtual ~ITransformer() { }
 
    virtual yarp::sig::Vector transform(const yarp::sig::Vector& input) {
        this->sampleCount++;
        return yarp::sig::Vector();
    }
 
    virtual std::string getInfo() {
        std::ostringstream buffer;
        buffer << "Type: " << this->getName() << ", ";
        buffer << "Sample Count: " << this->sampleCount << std::endl;
        return buffer.str();
    }
 
    virtual void reset() {
        this->sampleCount = 0;
    }
 
    std::string getName() const {
        return this->name;
    }
 
    void setName(std::string name) {
        this->name = name;
    }
 
    virtual std::string getConfigHelp() {
        return std::string("Transformer configuration options for '") +
               this->getName() + "'\n";
    }
 
    virtual ITransformer* clone() = 0;
 
    /*
     * Configure.
     */
    virtual bool configure(yarp::os::Searchable& config) { return true; }
 
    /*
     * Inherited from Portable.
     */
    bool write(yarp::os::ConnectionWriter& connection) const {
        yarp::os::Bottle model;
        this->writeBottle(model);
        return model.write(connection);
    }
 
    /*
     * Inherited from Portable.
     */
    bool read(yarp::os::ConnectionReader& connection) {
        yarp::os::Bottle model;
        model.read(connection);
        this->readBottle(model);
        return true;
    }
 
    virtual std::string toString() {
        yarp::os::Bottle model;
        this->writeBottle(model);
        return model.toString().c_str();
    }
 
    virtual bool fromString(const std::string& str) {
        yarp::os::Bottle model(str.c_str());
        this->readBottle(model);
        return true;
    }
 
};
 
} // learningmachine
} // iCub
 
#endif