Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks
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 SIMPLEDRIVER_H
00011 #define SIMPLEDRIVER_H
00012 
00013 #include "driver.h"
00014 #include <orcaice/context.h>
00015 
00016 namespace gps2localise2d {
00017 
00018 //
00019 // @author Alex Brooks
00020 //
00021 class SimpleDriver : public Driver
00022 {
00023 
00024 public: 
00025 
00026     SimpleDriver( const orca::GpsDescription &descr, const orcaice::Context &context );
00027     ~SimpleDriver();
00028 
00029     // Converts the GPS info into localise2d format.
00030     // Returns 'false' if the conversion can't be done (eg because GPS doesn't have a fix).
00031     bool compute( const orca::GpsData &gpsData, orca::Localise2dData &localiseData );
00032 
00033 private: 
00034 
00035     // Offset from gps origin to global coord system
00036     orca::Frame2d offset_;
00037 
00038     orca::GpsDescription  descr_;
00039     // Antenna offset as Frame2d.
00040     orca::Frame2d         antennaTransform_;
00041     orcaice::Context      context_;
00042 
00043 };
00044 
00045 }
00046 
00047 #endif
simpledriver.h
