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Revision 3f72678f

ID3f72678f171cbcb5499524f6cbfe994f4a416364
Parent e7b4f56d
Child fa8e76a4

Added by Priya about 12 years ago

Changing scheduler and WH robot to ROS messages

View differences:

scout/libscout/src/behaviors/WH_Robot.h
12 12 
#include <stdlib.h>
13 13 

  		




  14
  14
  
    
class WH_Robot : Behavior{


  		




  
  15
  
    
        std::string name;


  		




  
  16
  
    
        int id;


  		




  
  17
  
    

  		




  
  18
  
    
        int reg_failed;


  		




  15
  19
  
    

  		




  16
  20
  
    
        Order* curr_task;


  		




  17
  21
  
    
        navigationMap* nav_map;


  		




  18
  
  
    
        void* scheduler;


  		




  19
  22
  
    

  		




  20
  23
  
    
        Duration get_worst_case_time(State start_state, State target_state);


  		




  21
  24
  
    
        int exec_task();


  		




  22
  25
  
    

  		




  
  26
  
    
        void msg_callback(const std_msgs::String::ConstPtr& msg);


  		




  
  27
  
    

  		




  23
  28
  
    
    public:


  		




  24
  
  
    
        WH_Robot(std::string scoutname, void* sched);


  		




  
  29
  
    
        WH_Robot(std::string scoutname);


  		




  25
  30
  
    
        ~WH_Robot();


  		




  26
  31
  
    
        void run();


  		




  27
  32
  
    

  		




  28
  33
  
    
        void set_task(Order order);


  		




  29
  34
  
    

  		




  
  35
  
    
        ros::Publisher robot_to_sched;


  		




  
  36
  
    
        ros::Subscriber sched_to_robot;


  		




  
  37
  
    

  		




  30
  38
  
    
};


  		




  31
  39
  
    

  		




  32
  40
  
    
#endif


  		












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