nav_sensor.H

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// Copyright (C) 2004 Nitin Jyoti, Arun Pratap, Suresh Golconda ;-)

#ifndef CAJUN_CBSIM_NAV_SENSOR_OBSERVERS_H
#define CAJUN_CBSIM_NAV_SENSOR_OBSERVERS_H

#include "timer.H"
#include "data_logger.H"
#include "queue_generator.H"
#include "sim_world_object.H"
#include "components.H"

namespace cajun
{
class nav_observer_t;

class nav_sensor_t : public components_t
{
#define DELAY_GPS               0.01
friend class nav_observer_t;
public:
        nav_sensor_t (sim_world_object_t *parent, timer_t *timer);
        virtual ~nav_sensor_t ();
        nav_data_t * update_nav_data ();

        double get_position_x ();
        double get_position_y ();
        double get_position_z ();

        // inherited functions
        void update_position (dBodyID carb ) {};
        void command (int cmd, double value ) {};
        void simulate_component (dBodyID carb) {};
private:
        sim_world_object_t *m_robot;
        nav_data_t  m_nav_data;
        nav_observer_t * m_nav_observer;
};


class nav_observer_t : public timer_t::observer_t
{
public:
        nav_observer_t ( nav_sensor_t * m, double interval_v);
        virtual ~nav_observer_t ( );
        bool timeout(double currTime);
private:
        nav_sensor_t * m_nav_sensor;
};
};
#endif

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