root / scout / libscout / src / behaviors / WH_Robot.h @ 0e9eb730
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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 | 9b4328d7 | Priya | #include "../Behavior.h" |
9 | #include "navigationMap.h" |
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10 | bebd9bcb | Leon | #include "../helper_classes/Order.h" |
11 | 9b4328d7 | Priya | #include <assert.h> |
12 | #include <stdlib.h> |
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13 | bebd9bcb | Leon | |
14 | 9b4328d7 | Priya | class WH_Robot : Behavior{ |
15 | 3f72678f | Priya | std::string name; |
16 | int id;
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17 | |||
18 | int reg_failed;
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19 | bebd9bcb | Leon | |
20 | 9b4328d7 | Priya | Order* curr_task; |
21 | 6761a531 | Priya | navigationMap* nav_map; |
22 | bebd9bcb | Leon | |
23 | 92d4adda | Priya | Duration get_worst_case_time(State start_state, State target_state); |
24 | 9b4328d7 | Priya | int exec_task();
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25 | bebd9bcb | Leon | |
26 | 7ac5e9bc | Priya | void robot_callback(const std_msgs::String::ConstPtr& msg); |
27 | 3f72678f | Priya | |
28 | bebd9bcb | Leon | public:
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29 | 3f72678f | Priya | WH_Robot(std::string scoutname); |
30 | 9b4328d7 | Priya | ~WH_Robot(); |
31 | bebd9bcb | Leon | void run();
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32 | 9b4328d7 | Priya | |
33 | void set_task(Order order);
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34 | d37cfc69 | Leon | void follow_path(Path path_to_follow);
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35 | 9b4328d7 | Priya | |
36 | 3f72678f | Priya | ros::Publisher robot_to_sched; |
37 | ros::Subscriber sched_to_robot; |
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38 | |||
39 | bebd9bcb | Leon | }; |
40 | |||
41 | #endif
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