nav2remote.h

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/*
  Copyright (C) 2012 CrossWing Inc. www.crosswing.com
  All Rights Reserved.
*/

#ifndef _NAV2REMOTE_H_
#define _NAV2REMOTE_H_

class Nav2Remote
{
    // No copying allowed
    Nav2Remote(const Nav2Remote&);
    Nav2Remote& operator=(const Nav2Remote&);

    mutable char *line;
    mutable int lineLen;
    int fd;

    int readLine() const;

public:
    Nav2Remote( const char* host, int port=5010);

    ~Nav2Remote();

    int setTargetOrientation( double orientation);

    int setAbsoluteVelocity( double vx, double vy);

    int setRelativeVelocity( double vx, double vy, double turnRate=0.0);

    int estimatePosition( double& x, double& y, double& orientation) const;

    int setPosition( double x, double y, double orientation);

    int stop();

    int turnLeft( double angle);

    int turnRight( double angle) { return turnLeft( -angle); }

    int move( double dist, double direction);

    int forward( double dist) { return move(dist,0.0); }

    int back( double dist) { return forward(-dist); }

    int setMaxSpeed( double maxSpeed);

    int setMaxAccel( double maxAccel);

    int setMaxCorneringError( double error);

    double getMaxSpeed() const;

    double getMaxAccel() const;

    double getMaxCorneringError() const;

    int getQueueSize() const;

    int wait() const;
};

#endif