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simpledriver.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 Alex Brooks
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010  
00011 #ifndef SIMPLEDRIVER_H
00012 #define SIMPLEDRIVER_H
00013 
00014 #include <memory>
00015 #include <orcaice/context.h>
00016 #include "driver.h"
00017 #include "gpsheuristics.h"
00018 #include <hydronavutil/pose.h>
00019 
00020 namespace gps2localise2d {
00021 
00022 //
00023 // @author Alex Brooks, Tobias Kaupp
00024 //
00025 class SimpleDriver : public Driver
00026 {
00027 
00028 public: 
00029 
00030     SimpleDriver( const orca::GpsDescription     &gpsDescr, 
00031                   const orca::VehicleDescription &vehicleDescr,
00032                   const orcaice::Context         &context );
00033 
00034     // Converts the GPS info into localise2d format.
00035     // Returns 'false' if the conversion can't be done (eg because GPS doesn't have a fix).
00036     bool compute( const orca::GpsData &gpsData, orca::Localise2dData &localiseData );
00037 
00038 private: 
00039 
00040     // Offset from gps origin to global coord system
00041     hydronavutil::Pose offset_;
00042 
00043     orca::GpsDescription gpsDescr_;
00044     
00045     hydronavutil::Pose    antennaTransform_;
00046     orcaice::Context      context_;
00047     
00048     std::auto_ptr<GpsHeuristics> gpsHeuristics_;
00049 
00050 };
00051 
00052 }
00053 
00054 #endif
 

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