#ifndef OMS_SPFA_Robot_H
#define OMS_SPFA_Robot_H

/*****************************************************************
 * OMSController class - serves as a layer between 
 */



#include "..\Transform\Transformation.h"
#include "..\SPFA\SPFA.h"
#include "OMSController.h"


#define DEFAULT_BOARD_NAME		"OMS1"


class OMS_SPFA_Robot
{
	public:
		
		OMS_SPFA_Robot(	OMSController& _c, 
						SPFAModel&     _m)
				:c(_c), m(_m) {};

		~OMS_SPFA_Robot(){}; 

		void	moveTo (const TransformationMatrix& R) 
					throw(RobotControllerException); 
		void	goHome()
					throw(RobotControllerException);
		TransformationMatrix 
				getLastPose() {	return pose; }

	protected:
		OMSController& c;
		SPFAModel&     m;

		TransformationMatrix pose;

};
					

#endif