view main/robots/odr/TrackWaypointsTask.h @ 225:c4009187a522 main

Checkpoint
author Bob Cook <bob@bobcookdev.com>
date Sat, 28 Jun 2014 16:12:28 -0700
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// ----------------------------------------------------------------------------------------
//
//  robots/odr/TrackWaypointsTask.h
//    
//  Bob Cook Development, Robotics Library
//  http://www.bobcookdev.com/rl/
//
//  Subsumption task to navigate in a square shape.
//
//  Copyright (c) 2013 Bob Cook
//
//  Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
//
//  The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
//
//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
//
// ----------------------------------------------------------------------------------------

#ifndef BCDRL_ROBOTS_ODR_TRACKWAYPOINTSTASK_H
#define BCDRL_ROBOTS_ODR_TRACKWAYPOINTSTASK_H

#include "TaskObject.h"

#include <vector>

// ----------------------------------------------------------------------------------------

typedef struct
{
    double latitude;
    double longitude;
   
} WaypointType;

typedef std::vector< WaypointType > WaypointVectorType;

// ----------------------------------------------------------------------------------------

class TrackWaypointsTask : public TaskObject
{
    public:
        TrackWaypointsTask( const std::string& loggerName );
        virtual ~TrackWaypointsTask();
        virtual void update();
        virtual bool wantsControl();
        virtual void takeControl();

    private:
        void refreshWaypointTrack();

    private:
        WaypointVectorType m_waypoints;
        Poco::Timestamp    m_nextUpdateTime;
        double             m_waypointLatitude;
        double             m_waypointLongitude;
        double             m_headingToWaypoint;
        double             m_distanceToWaypoint;
};

// ----------------------------------------------------------------------------------------
#endif // #ifndef BCDRL_ROBOTS_ODR_TRACKWAYPOINTSTASK_H
// ----------------------------------------------------------------------------------------