root / scout / scoutsim / src / ghost_scout.h @ ddfeb111
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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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* 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_GHOST_SCOUT_H_
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#define _SCOUTSIM_GHOST_SCOUT_H_
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#include <ros/ros.h> |
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#include <vector> |
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#include <boost/shared_ptr.hpp> |
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#include <scoutsim/Pose.h> |
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#include <scoutsim/SetPen.h> |
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#include <scoutsim/Color.h> |
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#include "messages/ScoutPosition.h" |
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#include <geometry_msgs/Pose2D.h> |
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#include <wx/wx.h> |
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#include "scout.h" |
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#include "scoutsim_internal.h" |
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#include "scout_constants.h" |
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namespace scoutsim |
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{ |
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class GhostScout |
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{ |
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public:
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GhostScout(const ros::NodeHandle& nh,const wxImage& scout_image, |
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const Vector2& pos, wxBitmap *path_bitmap, float orient, |
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std::string scoutname); |
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geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,
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wxMemoryDC& sonar_dc, |
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wxColour background_color, |
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world_state state); |
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void paint(wxDC& dc);
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void setPosition(const ::messages::ScoutPosition& msg); |
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private:
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unsigned int rgb_to_grey(unsigned char r, |
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unsigned char g, |
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unsigned char b); |
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std::string name; |
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wxBitmap *path_bitmap; |
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ros::NodeHandle node; |
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wxImage scout_image; |
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wxBitmap scout; |
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Vector2 pos; |
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float start_x, start_y;
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float orient;
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ros::Subscriber position; |
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}; |
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} |
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#endif
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