root / scout / libscout / src / Behavior.cpp @ 3e877fe7
History | View | Annotate | Download (2.69 KB)
1 | cef78c70 | pdeo | /**
|
---|---|---|---|
2 | * Copyright (c) 2011 Colony Project
|
||
3 | *
|
||
4 | * Permission is hereby granted, free of charge, to any person
|
||
5 | * obtaining a copy of this software and associated documentation
|
||
6 | * files (the "Software"), to deal in the Software without
|
||
7 | * restriction, including without limitation the rights to use,
|
||
8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
9 | * copies of the Software, and to permit persons to whom the
|
||
10 | * Software is furnished to do so, subject to the following
|
||
11 | * conditions:
|
||
12 | *
|
||
13 | * The above copyright notice and this permission notice shall be
|
||
14 | * included in all copies or substantial portions of the Software.
|
||
15 | *
|
||
16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
23 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
24 | c492be62 | Alex Zirbel | */
|
25 | cef78c70 | pdeo | |
26 | /**
|
||
27 | * @file Behavior.cpp
|
||
28 | c492be62 | Alex Zirbel | * @brief Contains basic functions for the structure of all behaviors.
|
29 | cef78c70 | pdeo | *
|
30 | * Contains function implementations needed for all behavior.
|
||
31 | *
|
||
32 | * @author Colony Project, CMU Robotics Club
|
||
33 | * @author Priyanka Deo
|
||
34 | c384dc7e | Alex Zirbel | * @author Alex Zirbel
|
35 | cef78c70 | pdeo | **/
|
36 | |||
37 | #include "Behavior.h" |
||
38 | |||
39 | c384dc7e | Alex Zirbel | using namespace std; |
40 | cef78c70 | pdeo | |
41 | c492be62 | Alex Zirbel | /**
|
42 | * Constructs a behavior and sets up all control classes.
|
||
43 | *
|
||
44 | * This constructor is used by all behaviors which inherit the Behavior
|
||
45 | * class, so that it is easy to create a behavior with access to ROS
|
||
46 | * functionality through the control classes.
|
||
47 | *
|
||
48 | * @param scoutname If nonempty, specifies which scout in the simulator
|
||
49 | * will be controlled by this behavior.
|
||
50 | */
|
||
51 | dc742c14 | Alex | Behavior::Behavior(string scoutname, string my_name) |
52 | c384dc7e | Alex Zirbel | { |
53 | 31be19a6 | Priya | name = my_name; |
54 | |||
55 | c384dc7e | Alex Zirbel | motors = new MotorControl(node, scoutname);
|
56 | c492be62 | Alex Zirbel | buttons = new ButtonControl(node, scoutname);
|
57 | sonar = new SonarControl(node, scoutname);
|
||
58 | e1a60f89 | Priya | //cliffsensor = new CliffsensorControl(node, scoutname);
|
59 | a739cdbd | Alex Zirbel | encoders = new EncodersControl(node, scoutname);
|
60 | 26258aeb | Alex | linesensor = new LinesensorControl(node, scoutname);
|
61 | 5d0687a9 | Priya | wl_sender = new WirelessSender(node);
|
62 | wl_receiver = new WirelessReceiver(node);
|
||
63 | c492be62 | Alex Zirbel | |
64 | c384dc7e | Alex Zirbel | loop_rate = new ros::Rate(10); |
65 | cef78c70 | pdeo | } |
66 | |||
67 | c492be62 | Alex Zirbel | /**
|
68 | * Allows the behavior to check ros::ok(), without being aware of ROS.
|
||
69 | */
|
||
70 | c384dc7e | Alex Zirbel | bool Behavior::ok()
|
71 | cef78c70 | pdeo | { |
72 | c384dc7e | Alex Zirbel | return ros::ok();
|
73 | cef78c70 | pdeo | } |
74 | |||
75 | c492be62 | Alex Zirbel | /**
|
76 | * Allows the behavior to call ros::spin(), without being aware of ROS.
|
||
77 | */
|
||
78 | c384dc7e | Alex Zirbel | void Behavior::spin()
|
79 | cef78c70 | pdeo | { |
80 | ros::spin(); |
||
81 | return;
|
||
82 | } |
||
83 | |||
84 | c492be62 | Alex Zirbel | /**
|
85 | * Allows the behavior to call ros::spinOnce(), without being aware of ROS.
|
||
86 | */
|
||
87 | c384dc7e | Alex Zirbel | void Behavior::spinOnce()
|
88 | cef78c70 | pdeo | { |
89 | c384dc7e | Alex Zirbel | ros::spinOnce(); |
90 | cef78c70 | pdeo | return;
|
91 | } |