00001 /* 00002 * Copyright (c) 2013, Yujin Robot. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of Yujin Robot nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00035 /***************************************************************************** 00036 ** Ifdefs 00037 *****************************************************************************/ 00038 #ifndef KOBUKI_DOCK_DRIVE_STATE_HPP_ 00039 #define KOBUKI_DOCK_DRIVE_STATE_HPP_ 00040 00041 /***************************************************************************** 00042 ** States 00043 *****************************************************************************/ 00044 #include <iostream> 00045 00046 namespace kobuki { 00047 00048 // indicates the ir sensor from docking station 00049 struct DockStationIRState { 00050 enum State { 00051 INVISIBLE=0, 00052 NEAR_LEFT=1, 00053 NEAR_CENTER=2, 00054 NEAR_RIGHT=4, 00055 FAR_CENTER=8, 00056 FAR_LEFT=16, 00057 FAR_RIGHT=32, 00058 NEAR = 7, // NEAR_LEFT + NEAR_CENTER + NEAR_RIGHT 00059 FAR = 56, // FAR_CENTER + FAR_LEFT + FAR_RIGHT 00060 }; 00061 }; 00062 00063 // the current robot states 00064 struct RobotDockingState { 00065 enum State { 00066 IDLE, 00067 DONE, 00068 DOCKED_IN, 00069 BUMPED_DOCK, 00070 BUMPED, 00071 SCAN, 00072 FIND_STREAM, 00073 GET_STREAM, 00074 ALIGNED, 00075 ALIGNED_FAR, 00076 ALIGNED_NEAR, 00077 UNKNOWN, 00078 LOST 00079 }; 00080 00081 }; 00082 00083 /* 00084 struct RobotDockingState { 00085 enum State { 00086 IDLE, 00087 NEAR_LEFT, 00088 NEAR_CENTER, 00089 NEAR_RIGHT, 00090 FAR_CENTER, 00091 FAR_LEFT, 00092 FAR_RIGHT, 00093 IN_DOCK, 00094 DONE, 00095 ERROR, 00096 }; 00097 };*/ 00098 } 00099 00100 #endif // KOBUKI_DOCK_DRIVE_STATE_HPP_