00001 00008 #ifndef POSITIONSUBSCRIBER_H_ 00009 #define POSITIONSUBSCRIBER_H_ 00010 00011 00018 class PositionSubscriber { 00019 public: 00023 PositionSubscriber() ; 00024 virtual ~PositionSubscriber(); 00025 00030 double getYPos(); 00031 00036 double getXPos(); 00037 00043 double calcDistance(PositionSubscriber* other); 00044 00049 void Subscribe(const nav_msgs::Odometry::ConstPtr& position); 00050 00051 bool initialized; 00052 std::string robot_name_; 00053 uint32_t robot_number_; 00054 00055 nav_msgs::Odometry position; 00056 00057 private: 00058 double x_pos_, y_pos_; 00059 uint16_t callback_count, callback_refresh; 00060 00061 00062 }; 00063 00064 #endif /* POSITIONSUBSCRIBER_H_ */