WebotsKoremot.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
//
// $Id$
//
// 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 __WEBOTS_KOREMOT_H_
#define __WEBOTS_KOREMOT_H_

#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <iostream>
#include <fstream>

#include <baselib.h>
#include "WebotsDiffDrive.h"


namespace MipResources{
 /* @{ */


// class WebotsKoremotPar : public WebotsDiffDrivePar{
//  private:
//   static const string  _webotsKoremotName;
//   static const Decimal _maxWheelTurnRate; /*Computed imposing 0.5 m/s */
//   static const Decimal _leftDiam;
//   static const Decimal _rightDiam;
//   static const Decimal _axelTrack;
//   static const Decimal _encoderResol;
//   
//   string  _providedName(){return _webotsKoremotName;}
//   Decimal _providedMaxWheelTurnRate(void){return _maxWheelTurnRate;}
//   Decimal _providedLeftDiam(void){return _leftDiam;}
//   Decimal _providedRightDiam(void){return _rightDiam;}
//   Decimal _providedAxelTrack(void){return _axelTrack;}
//   Decimal _providedEncoderResol(void){return _encoderResol;}
//  public:
//   /// \brief Default constructor.
//   WebotsKoremotPar(){
//   }
//   /// \brief Destructor.
//   ~WebotsKoremotPar(){
//   }
// };


class WebotsKoremot : public WebotsDiffDrive{
 private:
  static const ResourcePlate _plate = MM_WEBKM_RES; 
  
 protected:
  /* PROMEMO from more abstract classes */
  /* UnicyclePar *_par; */
  /* UnicycleVar *_var; */
  /* DiffDrivePar *_ddPar; */
  /* DiffDriveVar *_ddVar; */
  /* WebotsDiffDrivePar *_weboPar; */
  
  
  
//   WebotsKoremotPar *_weKmPar;

 public:
  
  WebotsKoremot(int argc, const char* argv[]);
  
  ~WebotsKoremot();
  
  ResourcePlate getPlate() const {
   return _plate;
  }
};


 /* @} */
 
};// end namespace MipResources{


#endif