ViSP  2.8.0
vpRobotCycab.h
1 /****************************************************************************
2  *
3  * $Id: vpRobotCycab.h 4056 2013-01-05 13:04:42Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Interface for the car-like Cycab mobile robot.
36  *
37  * Authors:
38  * Fabien Spindler
39  *
40  *****************************************************************************/
41 #ifndef vpRobotCycab_h
42 #define vpRobotCycab_h
43 
62 #include <visp/vpConfig.h>
63 
64 #ifdef VISP_HAVE_CYCAB
65 
66 #ifdef VISP_HAVE_CYCABTK_OLD
67 // Old low level controller based on Syndex (obsolete)
68 # include <EtherCycab/EtherCycab.hpp>
69 #elif defined VISP_HAVE_CYCABTK
70 // New low level controller based on Syndex (to use)
71 # include <hugr.hpp>
72 # include <CycabStructs.hpp>
73 
74 using namespace hugr;
75 
76 #endif //VISP_HAVE_CYCABTK_OLD
77 
78 class VISP_EXPORT vpRobotCycab
79 {
80  public:
81  vpRobotCycab();
82  virtual ~vpRobotCycab();
83 
84  void setDualSteering(bool dual);
85  void setCommand(double v, double phi);
86  void getOdometry(double &vmean, double &phi);
87  void getOdometry(double &vmean, double &phi, double &timestamp);
88  void getOdometry(double &vfl, double &vfr, double &vrl, double &vrr,
89  double &phi);
90  void getOdometry(double &vfl, double &vfr, double &vrl, double &vrr,
91  double &phi, double &timestamp);
92  void getJoystickPosition(double &x, double &y);
93  void getJoystickPosition(double &x, double &y, double &timestamp);
94 
95  private:
96  bool dualSteering;
97 #ifdef VISP_HAVE_CYCABTK_OLD
98  // Old low level controller based on Syndex (obsolete)
99  bool end;
100  LockedTimeReq LTR;
101  char servername[1024];
102  EtherCycab *cycab;
103 #elif defined VISP_HAVE_CYCABTK
104  // New low level controller based on Syndex (to use)
105  Store store;
106  VariableId cycab_stateId, cycab_commandId;
107 #endif
108 };
109 
110 #endif
111 #endif
vpRobotCycab
Interface for the car-like Cycab mobile robot.