Colony » Colony Scout » Colony Scout OS

/**

 * The code in this package was developed using the structure of Willow

 * Garage's turtlesim package.  It was modified by the CMU Robotics Club

 * to be used as a simulator for the Colony Scout robot.

 *

 * All redistribution of this code is limited to the terms of Willow Garage's

 * licensing terms, as well as under permission from the CMU Robotics Club.

 * 

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * Copyright (c) 2009, Willow Garage, Inc.

 * All rights reserved.

 * 

 * Redistribution and use in source and binary forms, with or without

 * modification, are permitted provided that the following conditions are met:

 * 

 *    Redistributions of source code must retain the above copyright

 *       notice, this list of conditions and the following disclaimer.

 *    Redistributions in binary form must reproduce the above copyright

 *       notice, this list of conditions and the following disclaimer in the

 *       documentation and/or other materials provided with the distribution.

 *    Neither the name of the Willow Garage, Inc. nor the names of its

 *       contributors may be used to endorse or promote products derived from

 *       this software without specific prior written permission.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#ifndef _SCOUTSIM_GHOST_SCOUT_H_

#define _SCOUTSIM_GHOST_SCOUT_H_

#include <ros/ros.h>

#include <vector>

#include <boost/shared_ptr.hpp>

#include <scoutsim/Pose.h>

#include <scoutsim/SetPen.h>

#include <scoutsim/Color.h>

#include "messages/ScoutPosition.h"

#include <geometry_msgs/Pose2D.h>

#include <wx/wx.h>

#include "scout.h"

#include "scoutsim_internal.h"

#include "scout_constants.h"

namespace scoutsim

{

  class GhostScout

  {

    public:

      GhostScout(const ros::NodeHandle& nh,const wxImage& scout_image,

          const Vector2& pos, wxBitmap *path_bitmap, float orient,

          std::string scoutname);

      geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,

          wxMemoryDC& sonar_dc,

          wxColour background_color,

          world_state state);

      void paint(wxDC& dc);

      void setPosition(const ::messages::ScoutPosition& msg);

      std::string get_name();

      void set_visible(bool vis);

    private:

      unsigned int rgb_to_grey(unsigned char r,

          unsigned char g,

          unsigned char b);

      wxBitmap *path_bitmap;

      ros::NodeHandle node;

      wxImage scout_image;

      wxBitmap scout;

      Vector2 pos;

      float start_x, start_y;

      float orient;

      std::string name;

      ros::Subscriber position;

      bool is_visible;

  };

}

#endif