Colony » Colony Scout » Colony Scout OS

class Odometry : public Behavior {

    public:

        /** Set up the odometry node and prepare communcations over ROS */

        Odometry(std::string scoutname, Sensors* sensors);

        /** Set up the odometry node and prepare communcations over ROS */

        Odometry(std::string scoutname, std::string behavior_name, Sensors* sensors);

        /** Query encoders and estimate position based on encoder reading */

        void get_position();

        /** Gets scout position and prints to screen */

        void run();

    protected:

        pos* scout_pos;

    private:

        /** ROS publisher and client declaration */

        ros::NodeHandle node;

        ros::Publisher scout_position;

        ros::ServiceClient query_encoders_client;

        messages::ScoutPosition position;

        std::string name;

        float msg_time_in;

        int motor_fl_dist;

        int motor_fr_dist;

        int motor_bl_dist;

        int motor_br_dist;

        unsigned int motor_fl_ticks;

        unsigned int motor_fr_ticks;

        unsigned int motor_bl_ticks;

        unsigned int motor_br_ticks;

        float scout_theta;