Orca Robotics

00001 #ifndef ORCASIM2D_POSEPUBLISHER_H
00002 #define ORCASIM2D_POSEPUBLISHER_H
00003 
00004 #include <hydrosim2d/iposepublisher.h>
00005 #include <orcanavutil/orcanavutil.h>
00006 #include <orcaifaceimpl/localise2dImpl.h>
00007 
00008 namespace orcasim2d {
00009 
00015 class PosePublisher : public hydrosim2d::IPosePublisher
00016 {
00017 
00018 public: 
00019 
00020     PosePublisher( const orca::VehicleGeometryDescriptionPtr &geomDescr,
00021                    const std::string                         &interfaceTag,
00022                    const orcaice::Context                    &context )
00023         : localise2dImpl_(new orcaifaceimpl::Localise2dImpl(geomDescr,interfaceTag,context))
00024         {}
00025 
00026     void initInterface()
00027         { localise2dImpl_->initInterface(); }
00028 
00029     // From hydrosim2d::IPosePublisher
00030     void publish( const hydronavutil::Pose &pose );
00031 
00032 private: 
00033 
00034     orcaifaceimpl::Localise2dImplPtr localise2dImpl_;
00035 
00036 };
00037 
00038 }
00039 
00040 #endif