reactivestate.h

一个简单使用的控制器

#ifndef REACTIVE_STATE_H
#define REACTIVE_STATE_H
#include <math.h>

#include "RobotSkill.h"

class ReactiveState {
   public:
      ReactiveState(RobotAction *robot);
      bool reactiveFreeBump(RobotSkill::Pos& goal);
      bool reactiveFreeGradient(RobotSkill::Pos& goal);
      bool requestReleaseTag();
      void update(rescue_free_bump_message);
      void update(rescue_free_gradient_message); 
      void update(rescue_rfid_deploy_message msg);
      void updateRFIDSensor(rescue_rfid_sensor_message msg);

   private:
      bool RFIDTagDetectionAtCurrentPos();

   private:
      RobotAction* _robot;
      RobotSkill::Pos _bumpGoal;
      RobotSkill::Pos _gradientGoal; 
      bool _bump;
      bool _gradient;
      struct timeval _gradient_time;
      bool _rfidReq;
      RobotSkill::Pos _lastRFIDPos;
      bool _lastRFIDPosValid;
      vector<long> _lastRFIDTags;
      bool _nearRfid;
      struct timeval _nearRfidTime; 

};
#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.
 *********************************************************************/