/*

ARIA header files for use with ARNL 1.7.1

Copyright(C) 2004, 2005 ActivMedia Robotics, LLC. 
Copyright(C) 2006, 2007, 2008, 2009 MobileRobots Inc.
All rights reserved.

This copy of Aria was relicensed for use with Arnl and the Arnl
license by MobileRobots Inc.  If you wish to download a seperate
distribution of Aria licensed under the GPL or a commercial license go to
http://www.mobilerobots.com/SOFTWARE/aria.html or contact MobileRobots
Inc, at robots@mobilerobots.com or MobileRobots Inc,
10 Columbia Drive, Amherst, NH 03031; 800-639-9481

MobileRobots Inc hereby grants to other individuals or
organizations permission to use this software with Arnl and in
compliance with the Arnl license.  This software may not be
distributed to others except by MobileRobots Inc.

MobileRobots Inc does not make any representations about the
suitability of this software for any purpose.  It is provided "as is"
without express or implied warranty.

*/
#ifndef ARRESOLVER_H
#define ARRESOLVER_H

#include "ariaTypedefs.h"
#include "ArActionDesired.h"
#include <string>

class ArAction;
class ArRobot;

/// Resolves a list of actions and returns what to do
/**
  ArResolver::resolve() is the function that ArRobot
  calls with the action list in order
  to produce a combined ArActionDesired object from them, according to
  the subclass's particular algorithm or policy.
*/
class ArResolver
{
public:
  /// Constructor
  typedef std::multimap<int, ArAction *> ActionMap;
  ArResolver(const char *name, const char * description = "")
    { myName = name; myDescription = description; }
  /// Desturctor
  virtual ~ArResolver() {};
  /// Figure out a single ArActionDesired from a list of ArAction s
  virtual ArActionDesired *resolve(ActionMap *actions, ArRobot *robot,
				   bool logActions = false) = 0;
  /// Gets the name of the resolver
  virtual const char *getName(void) const { return myName.c_str(); }
  /// Gets the long description fo the resolver
  virtual const char *getDescription(void) const { return myDescription.c_str(); }
  
protected:
  std::string myName;
  std::string myDescription;
};

#endif