Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 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 MAIN_THREAD_H
00012 #define MAIN_THREAD_H
00013 
00014 #include <gbxsickacfr/gbxiceutilacfr/subsystemthread.h>
00015 #include <orcaice/context.h>
00016 #include <gbxsickacfr/gbxiceutilacfr/buffer.h>
00017 
00018 #include <hydropathplan/hydropathplan.h>
00019 #include <memory>
00020 #include "driver.h"
00021 #include "pathplanner2dI.h"
00022 
00023 namespace pathplanner
00024 {
00025 
00026 class MainThread : public gbxsickacfr::gbxiceutilacfr::SubsystemThread
00027 {
00028 
00029 public: 
00030 
00031     MainThread( const orcaice::Context & context );
00032 
00033     virtual void walk();
00034 
00035 private:
00036 
00037     // inerface to the algorithm and its driver
00038     std::auto_ptr<hydropathplan::IPathPlanner2d> pathPlanner_;
00039     std::auto_ptr<Driver>                        driver_;
00040 
00041     // we have to keep the ogmap as member variable,
00042     // otherwise they get out of scope if we pass references around
00043     hydroogmap::OgMap ogMap_;
00044 
00045     PathPlanner2dI* pathPlannerI_;
00046     gbxsickacfr::gbxiceutilacfr::Buffer<orca::PathPlanner2dTask> pathPlannerTaskBuffer_;
00047     
00048     void initNetwork();
00049     void initDriver();
00050     
00051     orcaice::Context context_;
00052     
00053     // cost of traversing cells (only used for skeleton variants)
00054     std::auto_ptr<hydropathplan::CostEvaluator> costEvaluator_;
00055 };
00056 
00057 } // namespace
00058 
00059 #endif
components/pathplanner/mainthread.h
