SuperMario.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------




#ifndef __SUPERMARIO_H_
#define __SUPERMARIO_H_

// #include <socketUDP.h>
// #include <Parameter.h>
#include <CommonOptions.h>

#include "MobileRob3D.h"
// #include "URG04LX.h"
#include "Korebot.h"

class SuperMario : public MobileRob3D{
 private:
  static const ResourcePlate _plate = MR_KHIII_RES; 
  /* PROMEMO from abstract class */
  /* MobileRob3DPar *_par; */
  /* MobileRob3DVar *_var; */
  /* RangeSens   *_rangeSens; */
  /* Unicycle  *_unicycle;*/
  MobileRob3DPar *_SuperMarioPar;  
  MobileRob3DVar *_SuperMarioVar;  
//  URG04LX  *_urg04lx;   ///< abstract Robot range sensor
  Korebot  *_korebotMot;   

 public:
  SuperMario(int argc, const char* argv[]){
   /*FIXME eliminare se non servono*/
   _SuperMarioPar  = new MobileRob3DPar();
   _SuperMarioVar  = new MobileRob3DVar();
//   _urg04lx        = new URG04LX(argc,argv);
   _korebotMot  = new Korebot(argc,argv);
   _par  = _SuperMarioPar;
   _var  = _SuperMarioVar;
   _unicycle = _korebotMot;
   _rangeSens = _urg04lx;
  }
/*TODO eliminare*/
//  /// \brief constructor
//  /// \param h hostname, ip of the machine in which player runs
//  /// \param p port, port which player use
//   PlayerRob(const string h, uint p){
//    _SuperMarioPar  = new PlayerRobPar(h,p);
//    _SuperMarioVar  = new PlayerRobVar();
//    _urg04lx = new URG04LX(playerClient());
//    _korebotMot  = new Korebot(playerClient());
//    _par = _SuperMarioPar;
//    _var = _SuperMarioVar;
//    _unicycle  = _korebotMot;
//    _rangeSens = _urg04lx;
//   }
  
  ResourcePlate getPlate() const {
   return _plate;
  }
  ~SuperMario(){
//   delete _urg04lx;
   delete  _korebotMot;
   delete _SuperMarioPar;
   delete _SuperMarioVar;
   cout << "destr playrob" << endl;
  }
  
  
  /* Range Sensor */
  /*defined at the top level (MobileRob3D)*/
  
  /* Motion Module */
  void velCmd(Decimal drive, Decimal turnrate){
   _korebotMot->velCmd(drive, turnrate);
  }
  void getVel(Decimal& drive, Decimal& turnrate){
   _korebotMot->getVel(drive,turnrate);
  };
  Pose getPose3D(void){
   return _korebotMot->odometry();
  }
  void setPose3D(Pose3D p){
   _korebotMot->setOdometry(p);
  }

};

#endif