rangescannav2d.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2006 Alex Brooks, Alexei Makarenko, Tobias Kaupp
 *
 * This copy of Orca is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */

#ifndef HYDRO_INTERFACES_RANGESCAN_NAV2D_H
#define HYDRO_INTERFACES_RANGESCAN_NAV2D_H

#include <hydroutil/context.h>
// #include <exception>

namespace hydrointerfaces 
{

class RangeScanNav2d
{

public: 

    class Command
    {
    public:
        double lin;
        double rot;
    
        std::string toString() const;
    };

    virtual ~RangeScanNav2d() {};

    virtual int waypointHorizon() { return 1; }

    virtual void getCommand( 
                bool                                   stalled,
                bool                                   localisationUncertain,
//                 const hydronavutil::Pose               &pose,
//                 const orca::Twist2d                   &currentVelocity,
//                 const orca::Time                      &poseAndVelocityTime,
//                 const orca::RangeScanner2dDataPtr      obs,
//                 const std::vector<orcalocalnav::Goal> &goals 
                   Command& command ) = 0;
};

class RangeScanNav2dFactory {
public:
    virtual ~RangeScanNav2dFactory() {};
    virtual RangeScanNav2d *createDriver( const hydroutil::Context& context ) const=0;
};

} // namespace

// Function for dynamically instantiating drivers.
// A driver must have a function like so:
// extern "C" {
//     hydrointerfaces::RangeScanNav2dFactory *createRangeScanNav2dDriverFactory();
// }
typedef hydrointerfaces::RangeScanNav2dFactory *RangeScanNav2dDriverFactoryMakerFunc();

#endif