randomdriver.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 ORCA_WALKER_RANDOMWALK_ALGORITHM_DRIVER_H
00012 #define ORCA_WALKER_RANDOMWALK_ALGORITHM_DRIVER_H
00013 
00014 #include <gbxsickacfr/gbxiceutilacfr/timer.h>
00015 
00016 #include "algodriver.h"
00017 
00018 namespace reactivewalker
00019 {
00020 
00021 class RandomDriver : public AlgoDriver
00022 {
00023 
00024 public:
00025 
00026     RandomDriver();
00027     
00028     // Computes the motion command
00029     virtual int computeCommand( const orca::RangeScanner2dDataPtr& laserData,
00030                                 const orca::Odometry2dData& odometryData,
00031                                 orca::VelocityControl2dData& commandData );
00032 
00033 private:
00034 
00035     gbxiceutilacfr::Timer randomTimer_;
00036     gbxiceutilacfr::Timer avoidTimer_;
00037 
00038     // state machine
00039     int avoidDirection_;
00040     bool isAvoiding_;
00041     bool forceRandomCourseChange_;
00042     
00043 };
00044 
00045 } // namespace
00046 
00047 #endif