root / scout / libscout / src / Behavior.cpp @ ed37d345
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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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* 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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/**
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* @file Behavior.cpp
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* @brief Contains basic functions for the structure of all behaviors.
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*
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* Contains function implementations needed for all behavior.
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*
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* @author Colony Project, CMU Robotics Club
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* @author Priyanka Deo
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* @author Alex Zirbel
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**/
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#include "Behavior.h" |
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using namespace std; |
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/**
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* Constructs a behavior and sets up all control classes.
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*
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* This constructor is used by all behaviors which inherit the Behavior
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* class, so that it is easy to create a behavior with access to ROS
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* functionality through the control classes.
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*
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* @param scoutname If nonempty, specifies which scout in the simulator
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* will be controlled by this behavior.
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*/
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Behavior::Behavior(string scoutname, string my_name) |
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{ |
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name = my_name; |
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motors = new MotorControl(node, scoutname);
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buttons = new ButtonControl(node, scoutname);
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sonar = new SonarControl(node, scoutname);
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//cliffsensor = new CliffsensorControl(node, scoutname);
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encoders = new EncodersControl(node, scoutname);
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linesensor = new LinesensorControl(node, scoutname);
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wl_sender = new WirelessSender(node);
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wl_receiver = new WirelessReceiver(node);
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loop_rate = new ros::Rate(10); |
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} |
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/**
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* Allows the behavior to check ros::ok(), without being aware of ROS.
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*/
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bool Behavior::ok()
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{ |
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return ros::ok();
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} |
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/**
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* Allows the behavior to call ros::spin(), without being aware of ROS.
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*/
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void Behavior::spin()
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{ |
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ros::spin(); |
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return;
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} |
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/**
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* Allows the behavior to call ros::spinOnce(), without being aware of ROS.
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*/
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void Behavior::spinOnce()
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{ |
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ros::spinOnce(); |
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return;
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} |