00001 /* 00002 * Copyright (c) 2013, Osnabrueck University 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright notice, 00009 * this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright notice, 00011 * this list of conditions and the following disclaimer in the documentation 00012 * and/or other materials provided with the distribution. 00013 * * Neither the name of the Osnabrueck University nor the names of its 00014 * contributors may be used to endorse or promote products derived from this 00015 * software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef _COMM_H_ 00031 #define _COMM_H_ 00032 00033 class Comm 00034 { 00035 public: 00036 virtual ~Comm() { } 00037 virtual void send_odometry(double x, double y, double theta, double v_x, 00038 double v_theta, double wheelpos_l, double wheelpos_r) = 0; 00039 }; 00040 00041 #endif