Go to the documentation of this file.00001 #pragma once
00002
00021 #ifndef __KIAUTOINIT_H
00022 #define __KIAUTOINIT_H
00023
00024 #include "KIProcedure.h"
00025
00026 class KIAutoInit : public KIProcedure
00027 {
00028 private:
00029 enum {NONE, STARTED, WAIT_FOR_FIRST, TOOK_FIRST, WAIT_FOR_SECOND, DONE} stage;
00030 int stageStarted;
00031 bool nextUp;
00032 bool resetMap;
00033 int moveTimeMS;
00034 int waitTimeMS;
00035 int reachHeightMS;
00036 float controlCommandMultiplier;
00037 public:
00038 KIAutoInit(bool resetMap = true, int imoveTimeMS=500, int iwaitTimeMS=800, int reachHeightMS=6000, float controlMult = 1.0, bool takeoff=true);
00039 ~KIAutoInit(void);
00040 bool update(const tum_ardrone::filter_stateConstPtr statePtr);
00041 };
00042
00043 #endif