odometrystate.h

一个简单使用的控制器

#ifndef _ROBOT_STATE_H
#define _ROBOT_STATE_H

#include <iostream>
#include "State.h"
#include "msg_types.h"
#include "ipc/ipc.h"
#include "logger/src/logger.h"

using namespace std;

class OdometryState;


class OdometryState : public State 
{
   private:
      rescue_geometry_message geometry;
      struct timeval timestamp;
      bool _yawSet;
      double _inuYaw; 
   public:
      OdometryState(bool useKalmanPoses=true); 
      ~OdometryState();

	  static OdometryState* singleton;

   public:
      static OdometryState* getSingleton(bool useKalmanPoses) 
      {  
         if (OdometryState::singleton == NULL)
            OdometryState::singleton = new OdometryState(useKalmanPoses);
         return OdometryState::singleton;
      } 
      void update(rescue_odometry_message &msg); 
      void update(rescue_kalman_pose_message &msg);
      void update(rescue_inertiacube_message &msg);
      int getPosX();
      int getPosZ();
      int getPosTh();
      int getTVel();
      int getRVel();
      struct timeval getPosTimestamp(void) {cerr << "Timestamps not working yet!" <<endl; return timestamp;}
      double getBatteryState();
};


#endif

/*********************************************************************
 * (C) Copyright 2006 Albert Ludwigs University Freiburg
 *     Institute of Computer Science
 *
 * All rights reserved. Use of this software is permitted for
 * non-commercial research purposes, and it may be copied only
 * for that use. All copies must include this copyright message.
 * This software is made available AS IS, and neither the authors
 * nor the Albert Ludwigs University Freiburg make any warranty
 * about the software or its performance.
 *********************************************************************/