scoutos / scout / libscout / src / behaviors / WH_Robot.h @ d37cfc69
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#ifndef _WH_ROBOT_
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#define _WH_ROBOT_
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#define DEFAULT_TASK NULL |
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#define TASK_COMPLETED 0 |
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#define TASK_FAILED -1 |
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#include "../Behavior.h" |
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#include "navigationMap.h" |
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#include "../helper_classes/Order.h" |
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#include <assert.h> |
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#include <stdlib.h> |
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class WH_Robot : Behavior{ |
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std::string name; |
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int id;
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int reg_failed;
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Order* curr_task; |
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navigationMap* nav_map; |
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Duration get_worst_case_time(State start_state, State target_state); |
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int exec_task();
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void robot_callback(const std_msgs::String::ConstPtr& msg); |
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public:
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WH_Robot(std::string scoutname); |
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~WH_Robot(); |
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void run();
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void set_task(Order order);
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void follow_path(Path path_to_follow);
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ros::Publisher robot_to_sched; |
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ros::Subscriber sched_to_robot; |
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}; |
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#endif
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