ideal_motion_controller.h

Go to the documentation of this file.

/******************************************************************************
   STDR Simulator - Simple Two DImensional Robot Simulator
   Copyright (C) 2013 STDR Simulator
   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 3 of the License, or
   (at your option) any later version.
   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.
   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software Foundation,
   Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA
   
   Authors : 
   * Manos Tsardoulias, etsardou@gmail.com
   * Aris Thallas, aris.thallas@gmail.com
   * Chris Zalidis, zalidis@gmail.com 
******************************************************************************/

#ifndef IDEAL_MOTION_CONTROLLER_H
#define IDEAL_MOTION_CONTROLLER_H

#include <stdr_robot/motion/motion_controller_base.h>

namespace stdr_robot 
{
  
  class IdealMotionController : public MotionController 
  {
    
    public:
    
      IdealMotionController(
        const geometry_msgs::Pose2D& pose, 
        tf::TransformBroadcaster& tf, 
        ros::NodeHandle& n, 
        const std::string& name);
      
      void velocityCallback(const geometry_msgs::Twist& msg);
      
      void stop(void);
      
      void calculateMotion(const ros::TimerEvent& event);
      
      ~IdealMotionController(void);
  };
}


#endif