vpROSRobotPioneer.h

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/****************************************************************************
 *
 * $Id: vpROSRobotPioneer.h 4574 2014-01-09 08:48:51Z fpasteau $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Interface for Pioneer mobile robots based on ROS
 *
 * Authors:
 * Francois Pasteau
 *
 *****************************************************************************/
#ifndef VPROSROBOTPIONEER_H
#define VPROSROBOTPIONEER_H

#include <visp/vpConfig.h>
#include <visp/vpRobot.h>
#include <visp/vpRobotException.h>
#include <visp/vpPioneer.h>

#include <visp_ros/vpROSRobot.h>

class VISP_EXPORT vpROSRobotPioneer: public vpROSRobot, public vpPioneer
{
  public:
    vpROSRobotPioneer();
    ~vpROSRobotPioneer();

    void disableMotors();
    void enableMotors();

    void get_eJe(vpMatrix & eJe)
    {
      eJe = vpUnicycle::get_eJe();
    }

    void getVelocity (const vpRobot::vpControlFrameType frame, vpColVector & velocity)
    {
      throw (vpRobotException(vpRobotException::notImplementedError, "getVelocity not implemented with ROS") );
    }
    vpColVector getVelocity (const vpRobot::vpControlFrameType frame)
    {
      throw (vpRobotException(vpRobotException::notImplementedError, "getVelocity not implemented with ROS") );
    }

    void init() ;
    void init(int argc, char **argv) ;

    void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);

    void useSonar(bool usage)
    {
      throw (vpRobotException(vpRobotException::notImplementedError, "useSonar not implemented with ROS") );
    }

  private: /* Not allowed functions. */

    vpROSRobotPioneer(const vpROSRobotPioneer &robot);

  private: // Set as private since not implemented
    void get_fJe(vpMatrix & /*fJe*/) {} ;

    void setPosition(const vpRobot::vpControlFrameType /*frame*/, const vpColVector &/*q*/) {};

};

#endif // vpROSRobotPioneer_H