00001 /* 00002 * ConstantPoints.hpp 00003 * 00004 * Created on: Dec 16, 2011 00005 * Author: mriedel 00006 */ 00007 00008 #ifndef CONSTANTPOINTS_HPP_ 00009 #define CONSTANTPOINTS_HPP_ 00010 00011 #include <telekyb_defines/telekyb_defines.hpp> 00012 #include <obs_detection/ObstacleProvider.hpp> 00013 00014 #include <telekyb_base/Options.hpp> 00015 00016 using namespace TELEKYB_NAMESPACE; 00017 00018 namespace telekyb_obs { 00019 00020 class ConstantPointsOptions : public OptionContainer { 00021 public: 00022 Option< std::vector<Position3D> >* tConstantObstaclePoints; 00023 ConstantPointsOptions(); 00024 }; 00025 00026 class ConstantPoints : public ObstacleProvider { 00027 protected: 00028 ConstantPointsOptions options; 00029 00030 public: 00031 ConstantPoints(); 00032 virtual ~ConstantPoints(); 00033 00034 // called directly after Creation 00035 virtual void initialize(); 00036 00037 // called right before destruction 00038 virtual void destroy(); 00039 00040 virtual void getObstaclePoints(const TKState& lastState, std::vector<Position3D>& obstaclePoints) const; 00041 }; 00042 00043 } /* namespace telekyb_obs */ 00044 #endif /* CONSTANTPOINTS_HPP_ */
