KheperaIII.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 __KHEPERAIII_H_
#define __KHEPERAIII_H_

#include <CommonOptions.h>

#include "MobileRob.h"
#include "URG04LXmm.h"
#include "Korebot.h"

#include "TCRT5000.h"
#include "TCRT5000Ground.h"

namespace MipResources{
 /* @{ */

class KheperaIII : public MobileRob{
 private:
  static const ResourcePlate _plate = MR_KHIII_RES; 
  /* PROMEMO from abstract class */
  /* MobileRobPar *_par; */
  /* MobileRobVar *_var; */
  /* RangeSens   *_rangeSens; */
  /* Unicycle   *_unicycle;*/
  MobileRobPar *_kheperaIIIPar;  
  MobileRobVar *_kheperaIIIVar; 
  
  // onboard sensors
  URG04LXmm  *_urg04lx;   
  Korebot   *_korebotMot;  

  TCRT5000  *_tcrt5000;   
  TCRT5000Ground  *_tcrt5000Ground;   

 public:
  
  ResourcePlate getPlate() const {
   return _plate;
  }
  
  KheperaIII(int argc, const char* argv[]);
  
  ~KheperaIII();
  
  int totalScanNum(){
   return _urg04lx->totScans() ;
  }
  
  int totScans(int lastTakenScan){
   return _urg04lx->totScans();
  }
  
  virtual void turnLaserOn(){
   _urg04lx->_cmd->on();
  }
};

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


#endif