state.hpp
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1 /*
2  * Copyright (c) 2013, Yujin Robot.
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13  * * Neither the name of Yujin Robot nor the names of its
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15  * this software without specific prior written permission.
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35 /*****************************************************************************
36 ** Ifdefs
37 *****************************************************************************/
38 #ifndef KOBUKI_DOCK_DRIVE_STATE_HPP_
39 #define KOBUKI_DOCK_DRIVE_STATE_HPP_
40 
41 /*****************************************************************************
42 ** States
43 *****************************************************************************/
44 #include <iostream>
45 
46 namespace kobuki {
47 
48  // indicates the ir sensor from docking station
49  struct DockStationIRState {
50  enum State {
51  INVISIBLE=0,
52  NEAR_LEFT=1,
53  NEAR_CENTER=2,
54  NEAR_RIGHT=4,
55  FAR_CENTER=8,
56  FAR_LEFT=16,
57  FAR_RIGHT=32,
58  NEAR = 7, // NEAR_LEFT + NEAR_CENTER + NEAR_RIGHT
59  FAR = 56, // FAR_CENTER + FAR_LEFT + FAR_RIGHT
60  };
61  };
62 
63  // the current robot states
64  struct RobotDockingState {
65  enum State {
66  IDLE,
67  DONE,
68  DOCKED_IN,
69  BUMPED_DOCK,
70  BUMPED,
71  SCAN,
72  FIND_STREAM,
73  GET_STREAM,
74  ALIGNED,
75  ALIGNED_FAR,
76  ALIGNED_NEAR,
77  UNKNOWN,
78  LOST
79  };
80 
81  };
82 
83  /*
84  struct RobotDockingState {
85  enum State {
86  IDLE,
87  NEAR_LEFT,
88  NEAR_CENTER,
89  NEAR_RIGHT,
90  FAR_CENTER,
91  FAR_LEFT,
92  FAR_RIGHT,
93  IN_DOCK,
94  DONE,
95  ERROR,
96  };
97  };*/
98 }
99 
100 #endif // KOBUKI_DOCK_DRIVE_STATE_HPP_

kobuki_dock_drive
Author(s): Younghun Ju
autogenerated on Fri Sep 18 2020 03:22:00