controller_timed_pomdp.h

Go to the documentation of this file.

#ifndef _CONTROLLER_TIMED_POMDP_H_
#define _CONTROLLER_TIMED_POMDP_H_

#include <string>

#include <mdm_library/controller_pomdp.h>



namespace mdm_library
{
class ControllerTimedPOMDP : public ControllerPOMDP
{
public:
    ControllerTimedPOMDP ( const std::string& problem_file,
                           const std::string& value_function_file,
                           const CONTROLLER_STATUS initial_status = STARTED );

    void startController();
private:
    void observationCallback ( const WorldSymbolConstPtr& msg );

    void scheduleTimer();
    void timerCallback ( const ros::TimerEvent& timerEvent );
    void step();

    ros::Timer timer_;

    Index o_;
};
}

#endif