tibi_dabo_hideandseek_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser 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 Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _tibi_dabo_hideandseek_alg_h_
#define _tibi_dabo_hideandseek_alg_h_

#include <tibi_dabo_hideandseek/TibiDaboHideandseekConfig.h>
#include "mutex.h"
#include "exceptions.h"

#include <geometry_msgs/PoseStamped.h>
#include <tf/transform_listener.h>

//include tibi_dabo_hideandseek_alg main library
#include "seekerhs.h"


class TibiDaboHideandseekAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
    SeekerHS *mySeekerHS;
    std::string path;
    std::string pathOut;
    std::string map;
    std::string experiment;
    int solver;
    int windist;
    double cellsize;

  public:
    typedef tibi_dabo_hideandseek::TibiDaboHideandseekConfig Config;

    Config config_;

    TibiDaboHideandseekAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all tibi_dabo_hideandseek_alg interface methods to retrieve and set
    // the driver parameters
    void initialize(std::string path, std::string pathOut, std::string map, std::string experiment, int solver);
    bool initGame(const geometry_msgs::PoseStamped seekerPose, const std::vector < geometry_msgs::Point > hiderPose);
    bool iteration(const geometry_msgs::PoseStamped seekerPose, const std::vector < geometry_msgs::Point > hiderPose, geometry_msgs::PoseStamped & seekerGoal, int & gameStatus);
    void setWinDistToHider(int winDist);
    void setCellSizeM(double cellSizeM);
    void stopGame(int winState);
 
    ~TibiDaboHideandseekAlgorithm(void);
};

#endif