scoutos / scout / libscout / src / test_behaviors / WH_Robot.h @ 9b5d3fff
History | View | Annotate | Download (1012 Bytes)
1 |
#ifndef _WH_ROBOT_
|
---|---|
2 |
#define _WH_ROBOT_
|
3 |
|
4 |
#define DEFAULT_TASK NULL |
5 |
#define TASK_COMPLETED 0 |
6 |
#define TASK_FAILED -1 |
7 |
|
8 |
#include "../behaviors/line_follow.h" |
9 |
#include "../Behavior.h" |
10 |
#include "../behaviors/navigationMap.h" |
11 |
#include "../helper_classes/Order.h" |
12 |
#include <assert.h> |
13 |
#include <stdlib.h> |
14 |
|
15 |
class WH_Robot : line_follow{ |
16 |
std::string name; |
17 |
int id;
|
18 |
|
19 |
int reg_failed;
|
20 |
|
21 |
Order* curr_task; |
22 |
navigationMap* nav_map; |
23 |
|
24 |
Duration get_worst_case_time(State start_state, State target_state); |
25 |
int exec_task();
|
26 |
|
27 |
void robot_callback(const std_msgs::String::ConstPtr& msg); |
28 |
|
29 |
void go_home(int x); |
30 |
void leave_home();
|
31 |
|
32 |
public:
|
33 |
WH_Robot(std::string scoutname, Sensors* sensors); |
34 |
~WH_Robot(); |
35 |
void run();
|
36 |
|
37 |
void set_task(Order order);
|
38 |
void follow_path(Path path_to_follow);
|
39 |
|
40 |
ros::Publisher robot_to_sched; |
41 |
ros::Subscriber sched_to_robot; |
42 |
}; |
43 |
|
44 |
#endif
|