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drivebicycledriver.h00001 /* 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 DRIVE_BICYCLE_NETWORK_DRIVER_H 00012 #define DRIVE_BICYCLE_NETWORK_DRIVER_H 00013 00014 #include <orca/drivebicycle.h> 00015 #include <orcaice/context.h> 00016 00017 #include "networkdriver.h" 00018 00019 namespace orcateleop 00020 { 00021 00022 class Display; 00023 00024 class DriveBicycleDriver : public NetworkDriver 00025 { 00026 00027 public: 00028 DriveBicycleDriver( Display* display, const orcaice::Context& context ); 00029 00030 virtual ~DriveBicycleDriver(); 00031 00032 virtual int enable(); 00033 00034 virtual int disable(); 00035 00036 virtual void repeatCommand(); 00037 00038 virtual void processMixedCommand( double longitudinal, bool isLongIncrement, 00039 double transverse, bool isTransverseIncrement, 00040 double angular, bool isAngularIncrement ); 00041 virtual void processIncrementCommand( int longitudinal, int transverse, int angular ); 00042 virtual void processRelativeCommand( double longitudinal, double transverse, double angular ); 00043 00044 private: 00045 00046 void sendCommand(); 00047 00048 orca::DriveBicyclePrx prx_; 00049 orca::DriveBicycleCommand command_; 00050 00051 double speedIncrement_; // [m/s] 00052 double steerAngleIncrement_; // [rad] 00053 00054 double maxSpeed_; // [m/s] 00055 double maxSteerAngle_; // [rad/sec] 00056 00057 Display* display_; 00058 orcaice::Context context_; 00059 }; 00060 00061 } // namespace 00062 00063 #endif |
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