root / scout / scoutsim / src / ghost_scout.h @ c06735bb
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1 | 0ccfc42d | Priya | /**
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2 | * The code in this package was developed using the structure of Willow
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3 | * Garage's turtlesim package. It was modified by the CMU Robotics Club
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4 | * to be used as a simulator for the Colony Scout robot.
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5 | *
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6 | * All redistribution of this code is limited to the terms of Willow Garage's
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7 | * licensing terms, as well as under permission from the CMU Robotics Club.
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8 | *
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9 | * Copyright (c) 2011 Colony Project
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10 | *
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11 | * Permission is hereby granted, free of charge, to any person
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12 | * obtaining a copy of this software and associated documentation
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13 | * files (the "Software"), to deal in the Software without
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14 | * restriction, including without limitation the rights to use,
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15 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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16 | * copies of the Software, and to permit persons to whom the
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17 | * Software is furnished to do so, subject to the following
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18 | * conditions:
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19 | *
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20 | * The above copyright notice and this permission notice shall be
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21 | * included in all copies or substantial portions of the Software.
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22 | *
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23 | * Copyright (c) 2009, Willow Garage, Inc.
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24 | * All rights reserved.
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25 | *
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26 | * Redistribution and use in source and binary forms, with or without
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27 | * modification, are permitted provided that the following conditions are met:
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28 | *
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29 | * Redistributions of source code must retain the above copyright
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30 | * notice, this list of conditions and the following disclaimer.
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31 | * Redistributions in binary form must reproduce the above copyright
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32 | * notice, this list of conditions and the following disclaimer in the
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33 | * documentation and/or other materials provided with the distribution.
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34 | * Neither the name of the Willow Garage, Inc. nor the names of its
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35 | * contributors may be used to endorse or promote products derived from
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36 | * this software without specific prior written permission.
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37 | *
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38 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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39 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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40 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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41 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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42 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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43 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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44 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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45 | * OTHER DEALINGS IN THE SOFTWARE.
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46 | */
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47 | |||
48 | #ifndef _SCOUTSIM_GHOST_SCOUT_H_
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49 | #define _SCOUTSIM_GHOST_SCOUT_H_
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50 | |||
51 | #include <ros/ros.h> |
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52 | #include <vector> |
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53 | #include <boost/shared_ptr.hpp> |
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54 | |||
55 | #include <scoutsim/Pose.h> |
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56 | #include <scoutsim/SetPen.h> |
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57 | #include <scoutsim/Color.h> |
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58 | |||
59 | #include "messages/ScoutPosition.h" |
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60 | |||
61 | #include <geometry_msgs/Pose2D.h> |
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62 | |||
63 | #include <wx/wx.h> |
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64 | |||
65 | #include "scout.h" |
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66 | |||
67 | #include "scoutsim_internal.h" |
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68 | #include "scout_constants.h" |
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69 | |||
70 | |||
71 | namespace scoutsim |
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72 | { |
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73 | class GhostScout |
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74 | { |
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75 | public:
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76 | GhostScout(const ros::NodeHandle& nh,const wxImage& scout_image, |
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77 | const Vector2& pos, wxBitmap *path_bitmap, float orient, |
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78 | std::string scoutname); |
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79 | |||
80 | geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,
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81 | wxMemoryDC& sonar_dc, |
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82 | wxColour background_color, |
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83 | world_state state); |
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84 | void paint(wxDC& dc);
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85 | |||
86 | void setPosition(const ::messages::ScoutPosition& msg); |
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87 | 43811241 | Alex | std::string get_name(); |
88 | void set_visible(bool vis); |
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89 | 0ccfc42d | Priya | |
90 | private:
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91 | unsigned int rgb_to_grey(unsigned char r, |
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92 | unsigned char g, |
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93 | unsigned char b); |
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94 | |||
95 | wxBitmap *path_bitmap; |
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96 | |||
97 | ros::NodeHandle node; |
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98 | |||
99 | wxImage scout_image; |
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100 | wxBitmap scout; |
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101 | |||
102 | Vector2 pos; |
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103 | float start_x, start_y;
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104 | float orient;
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105 | 28999371 | Alex | std::string name; |
106 | 0ccfc42d | Priya | |
107 | ros::Subscriber position; |
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108 | |||
109 | 43811241 | Alex | bool is_visible;
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110 | 0ccfc42d | Priya | }; |
111 | } |
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112 | |||
113 | #endif |