PathPlanning.h
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00001 // -*- C++ -*-
00010 #ifndef PATHPLANNING_H
00011 #define PATHPLANNING_H
00012 
00013 #include <rtm/Manager.h>
00014 #include <rtm/DataFlowComponentBase.h>
00015 #include <rtm/CorbaPort.h>
00016 #include <rtm/DataInPort.h>
00017 #include <rtm/DataOutPort.h>
00018 #include <rtm/idl/BasicDataTypeSkel.h>
00019 
00020 #include "intellirobotStub.h"
00021 #include "planner.h"
00022 
00023 // </rtc-template>
00024 
00025 using namespace RTC;
00026 
00027 class PathPlanning
00028   : public RTC::DataFlowComponentBase
00029 {
00030  public:
00031   PathPlanning(RTC::Manager* manager);
00032   ~PathPlanning();
00033 
00034   virtual RTC::ReturnCode_t onInitialize();
00035   virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00036   virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00037   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00038 
00039 
00040  protected:
00041   std::string m_map_file;
00042   
00043   IIS::TimedPose2D m_current_position;
00044   InPort<IIS::TimedPose2D> m_current_positionIn;
00045   IIS::TimedPose2D m_goal;
00046   InPort<IIS::TimedPose2D> m_goalIn;
00047   
00048   IIS::TimedPath2DSeq m_min_path;
00049   OutPort<IIS::TimedPath2DSeq> m_min_pathOut;
00050   
00051 
00052  private:
00053   int dummy;
00054   PathMapPtr all_path;
00055   PathMapPtr minimum_path;
00056 
00057   int map_loaded;
00058 };
00059 
00060 
00061 extern "C"
00062 {
00063   void PathPlanningInit(RTC::Manager* manager);
00064 };
00065 
00066 #endif // PATHPLANNING_H
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RS003
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autogenerated on Thu Jun 27 2013 14:58:49