KIProcedure.h

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#pragma once

#ifndef __KIPROCEDURE_H
#define __KIPROCEDURE_H
 
 

#include "../DroneController.h"
#include "tum_ardrone/filter_state.h"

class ControlNode;
class DroneController;


class KIProcedure
{
protected:
        ControlNode* node;
        DroneController* controller;

public:
        std::string command;

        // called externally before first call to update().
        inline void setPointers(ControlNode* node, DroneController* cont)
        {
                this->node = node;
                controller = cont;
        }

        // is called with control-frequency, is supposed to each time generate and send a new
        // control command to the drone.
        // returns wether the goal of this KI has been reached (leads to the KI being destroyed and the next one being popped).
        virtual bool update(const tum_ardrone::filter_stateConstPtr statePtr) = 0;

        // constructed shortly before first update.
        inline KIProcedure(void) {node = NULL; controller = NULL; command = "not set"; };
        virtual ~KIProcedure(void) {};
};

#endif /* __KIPROCEDURE_H */