omni_motion_controller.h

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/******************************************************************************
   STDR Simulator - Simple Two DImensional Robot Simulator
   Copyright (C) 2013 STDR Simulator
   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 3 of the License, or
   (at your option) any later version.
   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.
   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software Foundation,
   Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA

Authors:

Oscar Lima Carrion, olima_84@yahoo.com
Ashok Meenakshi, mashoksc@gmail.com
Seguey Alexandrov, sergeyalexandrov@mail.com

Review / Edits:
Manos Tsardoulias, etsardou@gmail.com

About this code:

This class represents a motion model for omnidirectional robot and could be
used to sample the possible pose given the starting pose and the commanded
robot's motion.

The motion is decomposed into two translations alond the x axis of the
robot (forward), and along the y axis of the robot (lateral), and one
rotation.
******************************************************************************/

#ifndef OMNI_MOTION_CONTROLLER_H
#define OMNI_MOTION_CONTROLLER_H

#include <stdr_robot/motion/motion_controller_base.h>

namespace stdr_robot 
{
  
  class OmniMotionController : public MotionController 
  {
    
    public:
    
      OmniMotionController(
        const geometry_msgs::Pose2D& pose, 
        tf::TransformBroadcaster& tf, 
        ros::NodeHandle& n, 
        const std::string& name,
        const stdr_msgs::KinematicMsg params);
           
      void calculateMotion(const ros::TimerEvent& event);
      
      ~OmniMotionController(void);
  };
}


#endif