simulated_object.H

Go to the documentation of this file.

// Copyright (C) 2006 University of Louisiana at Lafayette, 2006
// Authors: Christopher Mire

#ifndef CAJUN_SIMULATED_OBJECT_H
#define CAJUN_SIMULATED_OBJECT_H

#include "dynamic_object.H"
#include "signal_line_sensor.H"
#include "drive_sensor.H"
#include "laser_sensor.H"
#include "iteris_sensor.H"

namespace cajun
{
class drive_sensor_t;
class signal_line_sensor_t;
class laser_sensor_t;
class iteris_sensor_t;

class simulated_object_t : public dynamic_object_t
{
public:
        simulated_object_t ();
        simulated_object_t (dWorldID *world_body, dSpaceID *world_space, dGeomID ground,
                            object_info_t *object_data, rndf_tool_t *rndf_tool,
                            rndf_t *m_rndf, access_data_t *access_data_,
                            char const *lane_dir_);
        ~simulated_object_t ();
        bool update (float curr_time);
        void get_data (vector<obstacle_data_t> *&object_info,
                       vector <obstacle_points_data_t> *&object_points_);
        float get_steering_pos ();
        float get_throttle_pos ();
        signal_line_data_t m_robotSignals;
        control_line_data_t m_robotControls;
private:
        rndf_t *m_rndf;
        double m_bot_heading;
        control_data_t m_control_data;
        bool m_manual_control;
        drive_sensor_t *m_drive_sensor;
        signal_line_sensor_t *m_signal_line_sensor;
        std::vector<laser_sensor_t*> m_laser_sensor;
        iteris_sensor_t *m_iteris_sensor;
};
}
#endif

---