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Revision c492be62

IDc492be629f06e3cf71fdf832ce2cd5ac1ec779f8

Added by Alex Zirbel over 12 years ago

Updated the licensing information in many files.

This is a broken commit because I decided to do this at a bad time. Sorry! The build will be working after next commit, I promise (and I won't push till then). This commit reflects the licensing in the files after I used my auto-add/remove script.

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scout/scoutsim/src/scout.h
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/*
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 * This package was developed by the CMU Robotics Club project using code
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 * from Willow Garage, Inc.  Please see licensing.txt for details.
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/**
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 * The code in this package was developed using the structure of Willow
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 * Garage's turtlesim package.  It was modified by the CMU Robotics Club
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 * to be used as a simulator for the Colony Scout robot.
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 *
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 * All redistribution of this code is limited to the terms of Willow Garage's
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 * licensing terms, as well as under permission from the CMU Robotics Club.
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 *
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 * Copyright (c) 2011 Colony Project
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 *
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 *
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 *
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 * Copyright (c) 2009, Willow Garage, Inc.
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 * All rights reserved.
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 *
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 * @file scout.h
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 * @author Colony Project, CMU Robotics Club
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 * @author Alex Zirbel
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 *
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 * Redistribution and use in source and binary forms, with or without
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 * modification, are permitted provided that the following conditions are met:
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 *
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 *    Redistributions of source code must retain the above copyright
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 *       notice, this list of conditions and the following disclaimer.
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 *    Redistributions in binary form must reproduce the above copyright
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 *       notice, this list of conditions and the following disclaimer in the
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 *       documentation and/or other materials provided with the distribution.
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 *    Neither the name of the Willow Garage, Inc. nor the names of its
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 *       contributors may be used to endorse or promote products derived from
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 *       this software without specific prior written permission.
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 *
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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#ifndef _SCOUTSIM_SCOUT_H_


  		




  ......




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#include <scoutsim/Pose.h>


  		




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#include <scoutsim/SetPen.h>


  		




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#include <scoutsim/TeleportRelative.h>


  		




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#include <scoutsim/TeleportAbsolute.h>


  		




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#include <scoutsim/Color.h>


  		




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#include <wx/wx.h>


  		




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#include "scout_constants.h"


  		




  
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#define PI 3.14159265


  		




  
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/// The scale factor so the speed of scout robots is reasonable for the sim


  		




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#define SPEED_SCALE_FACTOR 0.05


  		




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  ......




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        private:


  		




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            void setMotors(const motors::set_motors::ConstPtr& msg);


  		




  
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            float getSonar(float angle);


  		




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            bool setPenCallback(scoutsim::SetPen::Request&,


  		




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                                scoutsim::SetPen::Response&);


  		




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            bool teleportRelativeCallback(scoutsim::TeleportRelative::Request&,


  		




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                                          scoutsim::TeleportRelative::Response&);


  		




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            bool teleportAbsoluteCallback(scoutsim::TeleportAbsolute::Request&,


  		




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                                          scoutsim::TeleportAbsolute::Response&);


  		




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            ros::NodeHandle node;


  		




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  ......




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            int motor_bl_speed;


  		




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            int motor_br_speed;


  		




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            // Each scout has a unique id number, which is also displayed on its image.


  		




  
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            int scout_id;


  		




  
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            float lin_vel;


  		




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            float ang_vel;


  		




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            bool pen_on;


  		




  ......




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            ros::Publisher pose_pub;


  		




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            ros::Publisher color_pub;


  		




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            ros::ServiceServer set_pen_srv;


  		




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            ros::ServiceServer teleport_relative_srv;


  		




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            ros::ServiceServer teleport_absolute_srv;


  		




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            ros::WallTime last_command_time;


  		




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            float meter;


  		




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            struct TeleportRequest


  		




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            {


  		




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                TeleportRequest(float x, float y, float new_theta,


  		




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                                float new_linear, bool new_relative)


  		




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                    : pos(x, y)


  		




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                      , theta(new_theta)


  		




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                      , linear(new_linear)


  		




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                      , relative(new_relative)


  		




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                {}


  		




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                Vector2 pos;


  		




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                float theta;


  		




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                float linear;


  		




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                bool relative;


  		




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            };


  		




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            typedef std::vector<TeleportRequest> V_TeleportRequest;


  		




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            V_TeleportRequest teleport_requests;


  		




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    };


  		




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    typedef boost::shared_ptr<Scout> ScoutPtr;


  		




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}


  		




  
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#endif


  		












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