vfhstate.h

一个简单使用的控制器

#ifndef _VFH_STATE_H
#define _VFH_STATE_H

#include "State.h"
#include "msg_types.h"
#include "ipc/ipc.h"
#include <sys/time.h>

class VFHState : public State
{
   public:
      VFHState();
      ~VFHState();
      bool emergencyStopRequired() {return _emergencyStop != 0;};
      void setEmergencyStop(int emergencyStop);
      int getAnglePreference() {return _anglePreference;};
      void setAnglePreference(int angle);
      bool getRearClear() {return _rearClear != 0;};
      void setRearClear(int rc);
      bool getFrontClear() {return _frontClear != 0;};
      int numFrontClear() {return _frontClear;};
      void setFrontClear(int fc);
      void updateReactiveSensor(rescue_reactive_sensor_message msg);
      void updateVfhPieces(features_vfh_pieces_message msg);
      void setGoal(int x, int z);
      int* getFreeSpaceValues() {return _freespaceValues;}
      int  getNumSectors()   {return _numSectors;}
   private:
      int _emergencyStop;
      int _frontClear;
      int _rearClear;
      int _anglePreference;
      int _goalx;
      int _goalz;
      int _numSectors;
      int* _freespaceValues;

};


#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.
 *********************************************************************/