Go to the documentation of this file.00001 #pragma once
00002
00022 #ifndef __KIAUTOINIT_H
00023 #define __KIAUTOINIT_H
00024
00025 #include "KIProcedure.h"
00026
00027 class KIAutoInit : public KIProcedure
00028 {
00029 private:
00030 enum {NONE, STARTED, WAIT_FOR_FIRST, TOOK_FIRST, WAIT_FOR_SECOND, DONE} stage;
00031 int stageStarted;
00032 bool nextUp;
00033 bool resetMap;
00034 int moveTimeMS;
00035 int waitTimeMS;
00036 int reachHeightMS;
00037 float controlCommandMultiplier;
00038 public:
00039 KIAutoInit(bool resetMap = true, int imoveTimeMS=500, int iwaitTimeMS=800, int reachHeightMS=6000, float controlMult = 1.0, bool takeoff=true);
00040 ~KIAutoInit(void);
00041 bool update(const uga_tum_ardrone::filter_stateConstPtr statePtr);
00042 };
00043
00044 #endif