SimDev_Echo.h
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00001 
00002 //"Echo" example, SimulatedDevice_Echo.h
00003 #ifndef SIMULATEDDEVICE_ECHO_H_
00004 #define SIMULATEDDEVICE_ECHO_H_
00005 #include "SimulatedDevice.h"
00006 using namespace uwsim;
00007 
00008 /*
00009  * Example header of driver/rosinterface configuration/factory
00010  *
00011  * Included in SimulatedDevices.cpp
00012  */
00013 
00014 //Driver/ROSInterface configuration
00015 class SimDev_Echo_Config : public SimulatedDeviceConfig
00016 {
00017 public:
00018   //XML members
00019   std::string info;
00020   //constructor
00021   SimDev_Echo_Config(std::string type_) :
00022       SimulatedDeviceConfig(type_)
00023   {
00024   }
00025 };
00026 
00027 //Driver/ROSInterface factory class
00028 class SimDev_Echo_Factory : public SimulatedDeviceFactory
00029 {
00030 public:
00031   //this is the only place the device/interface type is set
00032   SimDev_Echo_Factory(std::string type_ = "echo") :
00033       SimulatedDeviceFactory(type_)
00034   {
00035   }
00036   ;
00037 
00038   SimulatedDeviceConfig::Ptr processConfig(const xmlpp::Node* node, ConfigFile * config);
00039   bool applyConfig(SimulatedIAUV * auv, Vehicle &vehicleChars, SceneBuilder *sceneBuilder, size_t iteration);
00040   std::vector<boost::shared_ptr<ROSInterface> > getInterface(ROSInterfaceInfo & rosInterface,
00041                                                              std::vector<boost::shared_ptr<SimulatedIAUV> > & iauvFile);
00042 };
00043 
00044 //can be a sparate header file for actual implementation classes...
00045 
00046 #include "ConfigXMLParser.h"
00047 #include "ROSInterface.h"
00048 #include <ros/ros.h>
00049 #include <std_msgs/String.h>
00050 
00051 //Driver class
00052 class SimDev_Echo : public SimulatedDevice
00053 {
00054   void applyPhysics(BulletPhysics * bulletPhysics)
00055   {
00056   }
00057 public:
00058   std::string info; //Device's property
00059 
00060   SimDev_Echo(SimDev_Echo_Config * cfg);
00061 };
00062 
00063 //ROS publishers and subscribers work exactly as before, no subclassing is needed
00064 class SimDev_Echo_ROSPublisher : public ROSPublisherInterface
00065 {
00066   //this is just an example, use a pointer to SimulatedIAUV, if only ROSInterface is implemented
00067   //pointer to a device
00068   SimDev_Echo * dev;
00069 public:
00070   SimDev_Echo_ROSPublisher(SimDev_Echo *dev, std::string topic, int rate) :
00071       ROSPublisherInterface(topic, rate), dev(dev)
00072   {
00073   }
00074 
00075   void createPublisher(ros::NodeHandle &nh);
00076   void publish();
00077 
00078   ~SimDev_Echo_ROSPublisher()
00079   {
00080   }
00081 };
00082 
00083 #endif


uwsim
Author(s): Mario Prats , Javier Perez
autogenerated on Fri Aug 28 2015 13:28:58