Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2006 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 HYDRO_INTERFACES_RANGESCAN_NAV2D_H
00012 #define HYDRO_INTERFACES_RANGESCAN_NAV2D_H
00013 
00014 #include <hydroutil/context.h>
00015 // #include <exception>
00016 
00017 namespace hydrointerfaces 
00018 {
00019 
00046 class RangeScanNav2d
00047 {
00048 
00049 public: 
00050 
00052     class Command
00053     {
00054     public:
00056         double lin;
00058         double rot;
00059     
00061         std::string toString() const;
00062     };
00063 
00064     virtual ~RangeScanNav2d() {};
00065 
00068     virtual int waypointHorizon() { return 1; }
00069 
00074     virtual void getCommand( 
00075                 bool                                   stalled,
00076                 bool                                   localisationUncertain,
00077 //                 const hydronavutil::Pose               &pose,
00078 //                 const orca::Twist2d                   &currentVelocity,
00079 //                 const orca::Time                      &poseAndVelocityTime,
00080 //                 const orca::RangeScanner2dDataPtr      obs,
00081 //                 const std::vector<orcalocalnav::Goal> &goals 
00082                    Command& command ) = 0;
00083 };
00084 
00086 class RangeScanNav2dFactory {
00087 public:
00088     virtual ~RangeScanNav2dFactory() {};
00090     virtual RangeScanNav2d *createDriver( const hydroutil::Context& context ) const=0;
00091 };
00092 
00094 } // namespace
00095 
00096 // Function for dynamically instantiating drivers.
00097 // A driver must have a function like so:
00098 // extern "C" {
00099 //     hydrointerfaces::RangeScanNav2dFactory *createDriverFactory();
00100 // }
00101 typedef hydrointerfaces::RangeScanNav2dFactory *DriverFactoryMakerFunc();
00102 
00103 #endif
rangescannav2d.h
