algodriver.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp
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 ORCA_WALKER_ALGORITHM_DRIVER_H
00012 #define ORCA_WALKER_ALGORITHM_DRIVER_H
00013 
00014 #include <orca/rangescanner2d.h>
00015 #include <orca/odometry2d.h>
00016 #include <orca/velocitycontrol2d.h>
00017 
00018 namespace reactivewalker
00019 {
00020 
00021 class AlgoDriver 
00022 {
00023 
00024 public:
00025 
00026     virtual ~AlgoDriver() {};
00027     
00028     // Computes the motion command
00029     virtual int computeCommand( const orca::RangeScanner2dDataPtr& laserData,
00030                                 const orca::Odometry2dData& odometryData,
00031                                 orca::VelocityControl2dData& commandData )=0;
00032 
00033 };
00034 
00035 } // namespace
00036 
00037 #endif