root / scout / libscout / src / BomControl.h @ 64a67b32
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1 | 93cebb99 | Yuyang (Misty) Guo | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | */
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25 | |||
26 | /**
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27 | * @file BomControl.h
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28 | * @brief Contains line follwing sensor declarations and functions
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29 | *
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30 | * @author Colony Project, CMU Robotics Club
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31 | * @author Yuyang (Misty) Guo
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32 | */
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33 | |||
34 | #ifndef _BOM_CONTROL_H_
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35 | #define _BOM_CONTROL_H_
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36 | |||
37 | #include <ros/ros.h> |
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38 | #include <messages/query_boms.h> |
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39 | |||
40 | 8ae3771a | Yuyang (Misty) Guo | typedef struct BomReadings { |
41 | std::vector<uint32_t> readings; |
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42 | std::vector<uint32_t> senders; |
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43 | } BomReadings; |
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44 | |||
45 | 93cebb99 | Yuyang (Misty) Guo | class BomControl |
46 | { |
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47 | public:
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48 | /** Set up the encoders class and prepare to communicate over ROS */
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49 | BomControl(const ros::NodeHandle& libscout_node,
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50 | std::string scoutname); |
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51 | |||
52 | /** Use ROS to get the current readings. */
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53 | 8ae3771a | Yuyang (Misty) Guo | BomReadings query(); |
54 | 93cebb99 | Yuyang (Misty) Guo | |
55 | /** */
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56 | //std::double getSourceEstimation();
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57 | |||
58 | private:
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59 | /* ROS publisher and client declaration */
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60 | ros::ServiceClient query_client; |
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61 | ros::NodeHandle node; |
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62 | }; |
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63 | |||
64 | #endif /* _BOM_CONTORL_H_ */ |