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00014 #ifndef __NAV_ROAD_STATE_H__
00015 #define __NAV_ROAD_STATE_H__
00016
00017 #include <art_nav/FSMstate.h>
00018 #include <art_msgs/RoadState.h>
00019
00020 class NavRoadState: FSMstate
00021 {
00022 public:
00023
00024
00025 typedef enum
00026 {
00027 Init,
00028 Block,
00029 Evade,
00030 Follow,
00031 Pass,
00032 Uturn,
00033 WaitCross,
00034 WaitLane,
00035 WaitPass,
00036 WaitStop,
00037 Zone,
00038 N_states
00039 } state_t;
00040
00041
00042 const char *Name(void) const
00043 {
00044 static const char *state_name[N_states] =
00045 {
00046 "Init",
00047 "Block",
00048 "Evade",
00049 "Follow",
00050 "Pass",
00051 "Uturn",
00052 "WaitCross",
00053 "WaitLane",
00054 "WaitPass",
00055 "WaitStop",
00056 "Zone",
00057 };
00058 return state_name[this->state];
00059 }
00060
00061 NavRoadState()
00062 {
00063 this->state = Init;
00064 }
00065
00066 NavRoadState(state_t &istate)
00067 {
00068 this->state = istate;
00069 }
00070
00071 NavRoadState(const art_msgs::RoadState &msg)
00072 {
00073 this->state = (NavRoadState::state_t) msg.state;
00074 }
00075
00076 ~NavRoadState();
00077
00078 state_t Value(void) const
00079 {
00080 return this->state;
00081 }
00082
00083 void operator=(const NavRoadState::state_t &newstate)
00084 {
00085 this->state = newstate;
00086 }
00087
00088 bool operator==(const NavRoadState &compare) const
00089 {
00090 return this->state == compare.state;
00091 }
00092
00093 bool operator==(const state_t &compare) const
00094 {
00095 return this->state == compare;
00096 }
00097
00098 bool operator!=(const NavRoadState &compare) const
00099 {
00100 return this->state != compare.state;
00101 }
00102
00103 bool operator!=(const state_t &compare) const
00104 {
00105 return this->state != compare;
00106 }
00107
00108 private:
00109 state_t state;
00110 };
00111
00112 #endif // __NAV_ROAD_STATE_H__