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 #ifndef ORCALOCALNAV_LOCALNAVDRIVER_H
00011 #define ORCALOCALNAV_LOCALNAVDRIVER_H
00012 
00013 #include <orca/velocitycontrol2d.h>
00014 #include <orca/rangescanner2d.h>
00015 #include <orcaice/context.h>
00016 #include <orca/vehicledescription.h>
00017 #include <hydronavutil/hydronavutil.h>
00018 #include <orcalocalnav/goal.h>
00019 
00020 namespace orcalocalnav {
00021 
00022 //
00023 // @author Alex Brooks
00024 //
00025 // Base class for local navigation drivers.
00026 // The manager sets the goal location (in the robot's coordinate system)
00027 // by modifying the goal.
00028 //
00029 class IDriver
00030 {
00031 
00032 public: 
00033 
00034     // The pose is in a global coordinate frame, while the goals are
00035     // in the local coordinate frame.
00036     struct Inputs {
00037         bool                            stalled;
00038         bool                            isLocalisationUncertain;
00039         hydronavutil::Pose              localisePose;
00040         orca::Time                      poseTime;
00041         hydronavutil::Velocity          currentVelocity;
00042         std::vector<float>              obsRanges;
00043         orca::Time                      obsTime;
00044         std::vector<orcalocalnav::Goal> goals;
00045     };
00046 
00048 
00049     IDriver() {};
00050     virtual ~IDriver() {};
00051 
00052     // The number of waypoints we look into the future (and therefore
00053     // expect to be provided with)
00054     virtual int waypointHorizon() { return 1; }
00055 
00056     // Gets a velocity command.
00057     virtual hydronavutil::Velocity getCommand( const Inputs &inputs ) = 0;
00058 };
00059 
00060 // Helper class to instantiate drivers
00061 class DriverFactory {
00062 public:
00063     virtual ~DriverFactory() {};
00064     virtual IDriver *createDriver( const orcaice::Context &context,
00065                                    const orca::VehicleDescription &vehicleDescr,
00066                                    const orca::RangeScanner2dDescription &rangeScannerDescr ) const=0;
00067 };
00068 
00069 std::string toString( const IDriver::Inputs &inputs );
00070 inline std::ostream &operator<<( std::ostream &s, const IDriver &inputs )
00071 { return s << inputs; }
00072 
00073 } // namespace
00074 
00075 // Function for dynamically instantiating drivers.
00076 // A driver must have a function like so:
00077 // extern "C" {
00078 //     orcalocalnav::DriverFactory *createDriverFactory();
00079 // }
00080 typedef orcalocalnav::DriverFactory *DriverFactoryMakerFunc();
00081 
00082 #endif
idriver.h
