00001 #include<string> 00002 #include <ros/ros.h> 00003 00004 class TourManager{ 00005 public: 00006 bool tourAllowed; 00007 bool tourInProgress; 00008 long tourDuration; /* in seconds */ 00009 00010 ros::Time tourStartTime; 00011 ros::Time lastPingTime; 00012 std::string tourLeader; 00013 00014 static const int ERROR_NOTOURALLOWED = -2; 00015 static const int ERROR_TOURINPROGRESS = -3; 00016 static const int ERROR_NOTTOURLEADER = -4; 00017 static const int ERROR_NOTOURINPROGRESS = -5; 00018 00019 TourManager(bool tourAllowed) : tourAllowed(tourAllowed), 00020 tourInProgress(false), tourStartTime(0) { 00021 00022 tourDuration = 30*60; 00023 } 00024 };