AntiSimmetryTask.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 __ANTI_SIMMETRY_TASK_H_
#define __ANTI_SIMMETRY_TASK_H_

#include <Task.h>
#include <Resource.h>
#include <MobileRob.h>
#include <SharedMem.h>
#include <CommonOptions.h>
#include <AntiSimmetry.h>
#ifndef MIP_PLATFORM_ARM
#include <DraWin.h>
#endif

using namespace MipAlgorithms;
using namespace MipResources;

namespace MipTasks{
 
 /* @{ */
 
 enum AntiSimmetryTaskStates{
  ANTISIMMETRY_TASK_FIRST_RUN,
  ANTISIMMETRY_TASK_NORMAL_RUN,
  ANTISIMMETRY_TASK_STATES_NUM
 };
 
 
 static const char* AntiSimmetryTaskStatesNames[ANTISIMMETRY_TASK_STATES_NUM] = {
  "FirstRun",
  "NormalRun"
 };
 
 
 class AntiSimmetryTaskOptions : public Options {
  public:
   StringOption* controlAlgo;
   
   AntiSimmetryTaskOptions();

   string getObjectName() const {
    return "AntiSimmetryTaskOptions";
   }
 };
 
 
 class AntiSimmetryTaskSharedMem : public SharedMem{
  public:
   void initSharedMem();
   
   bool getDoAutoNavigation();
   
   PoseFeatures getFormation();
   
   PoseFeatures getEstimates();
   
   bool doAutoNavigation();
 };
 
 class AntiSimmetryTask : public Task{
  private:
   
   // Define here the TaskPlate, as written in MIP_HOME/Task/TaskDict.h file.
   static const TaskPlate _plate = ASI_TASK;
   
   // Define the maximum duration, the minimum and the maximum sample period of the task.
   static const long int  _maxDurSec  = 0,      _maxDurUsec = 100000;
   static const long int  _maxSamplPeriodSec = 1, _maxSamplPeriodUsec = 0;
   static const long int  _minSamplPeriodSec = 0, _minSamplPeriodUsec = 500000;
   
   // Define here the pointers to the algorithms you need to perform in this task.
   AntiSimmetry* _antiSimmetry;
   
   // Define here the pointers to the resources you need to use in this task.
   MobileRob*  _mobileRob;
   
   // If you need to use a DraWin resource, include here the following declarations.
 #ifndef MIP_PLATFORM_ARM
   DraWin*      _draWin;   
   unsigned int _drawList; 
   bool         dwOn;      
 #endif
   
   
   // Define here the pointers to the above SharedMem-derived class.
   AntiSimmetryTaskSharedMem* _sharedMem;
   
   // Define here the above Options-derived class.
   AntiSimmetryTaskOptions _options;
   
   // Define here the local variables of your task.
   int   _controlOfIntVariable;
   double _controlOfDecimalVariable;
   AntiSimmetryTaskStates _state;
   
   vector<Position> _formation;
   int _myPosition;
   int _myId;
   Pose _myPose;
   Position _control;
   
   // Define here the private methods of your task.
   void _firstRun();
   void _normalRun();
   bool _getOtherRobotPositions();
   void _applyControl();
   void _draw();
   
  public:
   AntiSimmetryTask(ResourcePointers resources,int argc, const char* argv[]);
   
   ~AntiSimmetryTask();
   
   TaskPlate getPlate() const {
    return _plate;
   }
   Time getMaxDuration(){
    return Time(_maxDurSec,_maxDurUsec);
   }
   Time getMaxSamplPeriod(){
    return Time(_maxSamplPeriodSec,_maxSamplPeriodUsec);
   }
   Time getMinSamplPeriod(){
    return Time(_minSamplPeriodSec,_minSamplPeriodUsec);
   }
   
   TaskOutputs run();
 };
 
 
 /* @} */
 
};// end namespace MipTasks


#endif