/*! @brief Constructor for the nubot
The parameters are for command line arguements. Webots gives the binary arguements which tell us the
robot's number. Consequently, these args are passed down to the webots platform.
@param argc the number of command line arguements
@param *argv[] the array of command line arguements
*/
NUbot::NUbot(int argc, const char *argv[])
{
createErrorHandling();
#if DEBUG_NUBOT_VERBOSITY > 4
debug << "NUbot::NUbot(). Constructing NUPlatform." << endl;
#endif
// Construct the right Platform
#ifdef TARGET_IS_NAOWEBOTS
platform = new NAOWebotsPlatform(argc, argv);
#endif
#ifdef TARGET_IS_NAO
platform = new NAOPlatform();
#endif
#ifdef TARGET_IS_CYCLOID
platform = new CycloidPlatform();
#endif
#if DEBUG_NUBOT_VERBOSITY > 4
debug << "NUbot::NUbot(). Constructing modules." << endl;
#endif
// Construct each enabled module
#ifdef USE_VISION
vision = new Vision();
#endif
#ifdef USE_LOCALISATION
localisation = new Localisation();
#endif
#ifdef USE_BEHAVIOUR
behaviour = new Behaviour();
#endif
#ifdef USE_MOTION
motion = new NUMotion();
#ifdef USE_WALKOPTIMISER
walkoptimiser = new WalkOptimiserBehaviour(platform, motion->m_walk);
#endif
#endif
#ifdef USE_NETWORK
network = new Network();
#endif
createThreads();
#if DEBUG_NUBOT_VERBOSITY > 4
debug << "NUbot::NUbot(). Finished." << endl;
#endif
}
/*! @brief Constructor for the nubot
The parameters are for command line arguements. Webots gives the binary arguements which tell us the
robot's number. Consequently, these args are passed down to the webots platform.
@param argc the number of command line arguements
@param *argv[] the array of command line arguements
*/
NUbot::NUbot(int argc, const char *argv[])
{
#if DEBUG_NUBOT_VERBOSITY > 0
debug << "NUbot::NUbot()." << endl;
#endif
NUbot::m_this = this;
createErrorHandling();
createPlatform(argc, argv);
createBlackboard();
createNetwork();
createModules();
createThreads();
#if DEBUG_NUBOT_VERBOSITY > 0
debug << "NUbot::NUbot(). Finished." << endl;
#endif
}