waypoint_controller.H

Go to the documentation of this file.

// Copyright (C) 2007 University of Louisiana at Lafayette
// Authors: Christopher Mire

#ifndef CAJUN_WAYPOINT_CONTROLLER_H
#define CAJUN_WAYPOINT_CONTROLLER_H

#include "controller_interface.H"

namespace cajun
{
class waypoint_controller_t : public controller_interface_t
{
public:
        waypoint_controller_t ();
        waypoint_controller_t (dynamic_object_t *object, timer_t *timer);

        ~waypoint_controller_t ();
private:
        class steering_observer_t : public timer_t::observer_t
        {
        public:
                steering_observer_t (steering_sensor_t *m, double interval_v);
                virtual ~steering_observer_t ();
                bool timeout (double currTime);
        private:
                steering_sensor_t *m_steering_sensor;
                double m_start_pos[3];
                double m_end_pos[3];
                unsigned m_goal_counter;
                double m_rotation[16];
                double m_object_heading;
                double m_object_bank;
                double m_object_attitude;
                float m_prev_time;
                float m_pause_time;
                char msg[MAXCBMSGSIZE];
        };
};
};

#endif

---