Revision 0e143737
Created Emitter class based on Scout class
Added command 'spawn_em' to spawn emitters
scout/scoutsim/src/sim_frame.h | ||
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#include <map> |
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#include "scout.h" |
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#include "emitter.h" |
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#include "ghost_scout.h" |
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#include "scoutsim_internal.h" |
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#include "messages/WirelessPacket.h" |
... | ... | |
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std::string spawnScout(const std::string& name, |
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float x, float y, float angle); |
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std::string spawnEmitter(const std::string& name, |
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float x, float y, float angle); |
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void onQuit(wxCommandEvent& event); |
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void onAbout(wxCommandEvent& event); |
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private: |
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typedef std::map<std::string, ScoutPtr> M_Scout; |
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typedef std::map<std::string, EmitterPtr> M_Emitter; |
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void onUpdate(wxTimerEvent& evt); |
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void onPaint(wxPaintEvent& evt); |
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... | ... | |
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void updateScouts(); |
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void clear(); |
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bool hasScout(const std::string& name); |
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bool hasEmitter(const std::string& name); |
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bool clearCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&); |
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bool resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&); |
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bool spawnCallback(Spawn::Request&, Spawn::Response&); |
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bool spawnEmCallback(Spawn::Request&, Spawn::Response&); |
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bool killCallback(Kill::Request&, Kill::Response&); |
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bool setSonarVizCallback(SetSonarViz::Request&, SetSonarViz::Response&); |
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bool setTeleopCallback(SetTeleop::Request&, SetTeleop::Response&); |
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void wirelessCallback(const messages::WirelessPacket::ConstPtr& msg); |
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void readBOM(); |
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ros::Subscriber wireless_send; |
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ros::Publisher wireless_receive; |
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//emitter |
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float em_aperture; |
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int em_distance; |
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// Teleop |
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short teleop_l_speed; |
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short teleop_r_speed; |
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ros::ServiceServer clear_srv; |
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ros::ServiceServer reset_srv; |
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ros::ServiceServer spawn_srv; |
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ros::ServiceServer spawn_em_srv; |
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ros::ServiceServer kill_srv; |
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ros::ServiceServer set_sonar_viz_srv; |
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ros::ServiceServer set_ghost_srv; |
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ros::ServiceServer set_teleop_srv; |
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typedef std::map<std::string, ScoutPtr> M_Scout; |
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M_Scout scouts; |
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M_Emitter emitters; |
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std::vector<GhostScout*> ghost_scouts; |
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uint32_t id_counter; |
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