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1 0ccfc42d Priya
/**
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 * The code in this package was developed using the structure of Willow
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 * Garage's turtlesim package.  It was modified by the CMU Robotics Club
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 * to be used as a simulator for the Colony Scout robot.
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 *
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 * All redistribution of this code is limited to the terms of Willow Garage's
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 * licensing terms, as well as under permission from the CMU Robotics Club.
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 * 
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * Copyright (c) 2009, Willow Garage, Inc.
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 * All rights reserved.
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 * 
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 * Redistribution and use in source and binary forms, with or without
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 * modification, are permitted provided that the following conditions are met:
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 * 
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 *    Redistributions of source code must retain the above copyright
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 *       notice, this list of conditions and the following disclaimer.
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 *    Redistributions in binary form must reproduce the above copyright
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 *       notice, this list of conditions and the following disclaimer in the
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 *       documentation and/or other materials provided with the distribution.
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 *    Neither the name of the Willow Garage, Inc. nor the names of its
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 *       contributors may be used to endorse or promote products derived from
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 *       this software without specific prior written permission.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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#ifndef _SCOUTSIM_GHOST_SCOUT_H_
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#define _SCOUTSIM_GHOST_SCOUT_H_
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#include <ros/ros.h>
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#include <vector>
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#include <boost/shared_ptr.hpp>
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#include <scoutsim/Pose.h>
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#include <scoutsim/SetPen.h>
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#include <scoutsim/Color.h>
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#include "messages/ScoutPosition.h"
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#include <geometry_msgs/Pose2D.h>
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#include <wx/wx.h>
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#include "scout.h"
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#include "scoutsim_internal.h"
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#include "scout_constants.h"
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namespace scoutsim
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{
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  class GhostScout
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  {
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    public:
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      GhostScout(const ros::NodeHandle& nh,const wxImage& scout_image,
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          const Vector2& pos, wxBitmap *path_bitmap, float orient,
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          std::string scoutname);
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      geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,
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          wxMemoryDC& sonar_dc,
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          wxColour background_color,
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          world_state state);
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      void paint(wxDC& dc);
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      void setPosition(const ::messages::ScoutPosition& msg);
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    private:
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      unsigned int rgb_to_grey(unsigned char r,
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          unsigned char g,
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          unsigned char b);
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      std::string name;
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      wxBitmap *path_bitmap;
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      ros::NodeHandle node;
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      wxImage scout_image;
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      wxBitmap scout;
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      Vector2 pos;
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      float start_x, start_y;
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      float orient;
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      ros::Subscriber position;
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  };
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}
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#endif