libs/orcateleop/network.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 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  NETWORK_INTERFACE_H
00012 #define  NETWORK_INTERFACE_H
00013 
00014 #include <hydrointerfaces/humaninput2d.h>
00015 
00016 #define TELEOP_COMMAND_UNCHANGED 1e6
00017 
00018 namespace orcateleop
00019 {
00020 
00021 class Network
00022 {
00023 public:
00024     virtual ~Network() {};
00025     
00026     virtual void newMixedCommand( const hydrointerfaces::HumanInput2d::Command& command ) = 0;
00027 
00028     // deltas in longitudinal, transverse directions and heading. Zero means no change.
00029     virtual void newIncrementCommand( int longitudinal, int transverse, int angle ) = 0;
00030 
00031     // relative values (%) in longitudinal, transverse  directions and heading
00032     virtual void newRelativeCommand( double longitudinal, double transverse, double angle ) = 0;
00033 
00034 };
00035 
00036 } // namespace
00037 
00038 #endif