Experiment.hpp

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/*
 * Experiment.hpp
 *
 *  Created on: Nov 15, 2011
 *      Author: mriedel
 */

#ifndef EXPERIMENT_HPP_
#define EXPERIMENT_HPP_

#include <telekyb_base/Options.hpp>

#include <sensor_msgs/Joy.h>

#include <telekyb_interface/TeleKybCore.hpp>
#include <telekyb_interface/MKInterface.hpp>


using namespace telekyb;

class ExperimentOptions : public OptionContainer
{
public:
        Option<int>* robotID;
        Option<std::string>* tJoystickTopic;
        Option<bool>* tUseMKInterface;

        Option<std::string>* tTrajectoryFileName;

        Option<Eigen::Vector3d>* tTrajectoryStartPoint;
        ExperimentOptions();
};

class Experiment : telekyb_interface::ActiveBehaviorListener {
protected:
        ExperimentOptions options;
        // ROS
        ros::NodeHandle mainNodeHandle;
        ros::Subscriber joySub;

        // the System
        telekyb_interface::TeleKybCore* core;
        // BehaviorController
        telekyb_interface::BehaviorController* bController;
        telekyb_interface::OptionController *oController;

        // Optional MKInterface
        telekyb_interface::MKInterface* mkInterface;


        // System Behaviors
        telekyb_interface::Behavior ground;
        telekyb_interface::Behavior hover;
        telekyb_interface::Behavior normalBreak;
        telekyb_interface::Behavior takeOff;
        telekyb_interface::Behavior land;

        // Custom
        //telekyb_interface::Behavior joystick;
        telekyb_interface::Behavior trajPlayback;

        // Fly around three points.
        telekyb_interface::Behavior flyto1;
        //telekyb_interface::Behavior flyto2;
        //telekyb_interface::Behavior flyto3;

        // Behavior
        telekyb_interface::Behavior* activeBehaviorPtr;




public:
        Experiment();
        virtual ~Experiment();

        // setup Behaviors
        void setupExperiment();

        // From Interface
        void activeBehaviorChanged(telekyb_interface::Behavior newActiveBehavior);

        void joystickCB(const sensor_msgs::Joy::ConstPtr& msg);
};

#endif /* EXPERIMENT_HPP_ */