root / scout / libscout / src / behaviors / WH_Robot.h @ faa11f08
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1 | bebd9bcb | Leon | #ifndef _WH_ROBOT_
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2 | #define _WH_ROBOT_
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3 | |||
4 | 6761a531 | Priya | #define DEFAULT_TASK NULL |
5 | 9b4328d7 | Priya | #define TASK_COMPLETED 0 |
6 | #define TASK_FAILED -1 |
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7 | bebd9bcb | Leon | |
8 | 1905324e | Priya | #include "line_follow.h" |
9 | 9b4328d7 | Priya | #include "../Behavior.h" |
10 | #include "navigationMap.h" |
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11 | bebd9bcb | Leon | #include "../helper_classes/Order.h" |
12 | 9b4328d7 | Priya | #include <assert.h> |
13 | #include <stdlib.h> |
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14 | bebd9bcb | Leon | |
15 | 1905324e | Priya | class WH_Robot : line_follow{ |
16 | 3f72678f | Priya | std::string name; |
17 | int id;
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18 | |||
19 | int reg_failed;
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20 | bebd9bcb | Leon | |
21 | 9b4328d7 | Priya | Order* curr_task; |
22 | 6761a531 | Priya | navigationMap* nav_map; |
23 | bebd9bcb | Leon | |
24 | 92d4adda | Priya | Duration get_worst_case_time(State start_state, State target_state); |
25 | 9b4328d7 | Priya | int exec_task();
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26 | bebd9bcb | Leon | |
27 | 7ac5e9bc | Priya | void robot_callback(const std_msgs::String::ConstPtr& msg); |
28 | 3f72678f | Priya | |
29 | 11aa087a | Priya | void go_home(int x); |
30 | void leave_home();
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31 | |||
32 | bebd9bcb | Leon | public:
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33 | d140fd71 | Yuyang | WH_Robot(std::string scoutname, Sensors* sensors); |
34 | 9b4328d7 | Priya | ~WH_Robot(); |
35 | bebd9bcb | Leon | void run();
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36 | 9b4328d7 | Priya | |
37 | void set_task(Order order);
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38 | d37cfc69 | Leon | void follow_path(Path path_to_follow);
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39 | 9b4328d7 | Priya | |
40 | 3f72678f | Priya | ros::Publisher robot_to_sched; |
41 | ros::Subscriber sched_to_robot; |
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42 | bebd9bcb | Leon | }; |
43 | |||
44 | #endif
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