ObsAvoiAlgo.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 __OBS_AVOI_ALGO_H
#define __OBS_AVOI_ALGO_H

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif


#include <LogTrace.h>
#include <Spaces.h>
#include <Scan.h>

using namespace MipBaselib;

namespace MipAlgorithms{

class ObsAvoiAlgoPar {
 
 public:
  
  ObsAvoiAlgoPar(){
  }

  ObsAvoiAlgoPar(const ObsAvoiAlgoPar &A){
  }
  
  ObsAvoiAlgoPar operator= (ObsAvoiAlgoPar A){
  }
 
};


class ObsAvoiAlgoIn{
 public:
  
  Pose robPose;
  Scan scan;
  Pose goal;
  Pose scanPose;
  Decimal lastV;
  Decimal lastW;
  Decimal rangeMax;

  ObsAvoiAlgoIn();
  
  ObsAvoiAlgoIn(Pose p, Scan &s, Pose g, Pose sp, Decimal lV, Decimal lW, Decimal rm);
};




class ObsAvoiAlgoOut{
 public:
  
  Decimal V;
  Decimal W;
  
  ObsAvoiAlgoOut();
  
  ObsAvoiAlgoOut(const ObsAvoiAlgoOut &A);
   
  void operator= (ObsAvoiAlgoOut A);
  
  bool operator!= (ObsAvoiAlgoOut A);
  
  string print();
};


class ObsAvoiAlgo: public MIPObject{
  
 protected:
  
  ObsAvoiAlgoPar par;
  
 public:
  
  ObsAvoiAlgo(){
   par = ObsAvoiAlgoPar();
  }
  
  ObsAvoiAlgo(ObsAvoiAlgoPar OAP){
   par = OAP;
  }
  
  
  virtual void getControl(ObsAvoiAlgoIn &in, ObsAvoiAlgoOut *out) {
   cout << "getControl NO" << endl;
   out->V = 0.0;
   out->W = 0.0;
  }
};


};// end namespace MIPAlgorithms


#endif

/* @} */