00001 /* 00002 * PositionError.hpp 00003 * 00004 * Created on: Dec 13, 2011 00005 * Author: mriedel 00006 */ 00007 00008 #ifndef PMPOSITIONERROR_HPP_ 00009 #define PMPOSITIONERROR_HPP_ 00010 00011 #include <telekyb_defines/telekyb_defines.hpp> 00012 #include <tk_trajprocessor/TrajectoryModule.hpp> 00013 00014 #include <telekyb_base/Options.hpp> 00015 00016 using namespace TELEKYB_NAMESPACE; 00017 00018 namespace telekyb_traj { 00019 00020 class PMPositionErrorOptions : public OptionContainer { 00021 public: 00022 Option<double>* tMaxPositionError; 00023 PMPositionErrorOptions(); 00024 }; 00025 00026 class PMPositionError : public TrajectoryModule { 00027 protected: 00028 PMPositionErrorOptions options; 00029 00030 public: 00031 PMPositionError(); 00032 00033 00034 virtual void initialize(); 00035 virtual void destroy(); 00036 00037 // set back to intial conditions 00038 virtual void willTurnActive(); 00039 00040 // called after turning inactive 00041 virtual void didTurnInactive(); 00042 00043 virtual bool trajectoryStep(const TKState& currentState, TKTrajectory& trajInput); 00044 00045 }; 00046 00047 } /* namespace telekyb_traj */ 00048 #endif /* PMPOSITIONERROR_HPP_ */
