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 ALGORITHM_HANDLER_H
00012 #define ALGORITHM_HANDLER_H
00013 
00014 #include <gbxsickacfr/gbxiceutilacfr/subsystemthread.h>
00015 #include <orcaice/context.h>
00016 #include <orcaifaceimpl/bufferedconsumers.h>
00017 #include <orcaifaceimpl/storingconsumers.h>
00018 #include <orca/velocitycontrol2d.h>
00019 
00020 #include "algodriver.h"
00021 
00022 namespace reactivewalker
00023 {
00024 
00025 class MainThread : public gbxsickacfr::gbxiceutilacfr::SubsystemThread
00026 {
00027 
00028 public: 
00029 
00030     MainThread( const orcaice::Context& context );
00031     virtual ~MainThread();
00032 
00033     // from SubsystemThread
00034     virtual void walk();
00035 
00036 private:
00037 
00038     // utilities    
00039     void initNetwork();
00040     void initDriver();
00041 
00042     // generic inerface to the algorithm
00043     AlgoDriver* driver_;
00044 
00045     // local access to remote interfaces
00046     orcaifaceimpl::BufferedRangeScanner2dConsumerImplPtr laser_;
00047     orcaifaceimpl::StoringOdometry2dConsumerImplPtr odometry_;
00048     // remote command interface
00049     orca::VelocityControl2dPrx commandPrx_;
00050     
00051     orcaice::Context context_;
00052 };
00053 
00054 } // namespace
00055 
00056 #endif
examples/reactivewalker/mainthread.h
