jaus++/2.0/include/jaus/mobility/drivers/localwaypointlistdriver.h
Go to the documentation of this file.
00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 00019 00020 00021 00022 00023 00024 00025 00026 00027 00028 00029 00030 00031 00032 00033 00034 00035 00036 00037 00038 00039 00040 00041 #ifndef __JAUS_MOBILITY_LOCAL_WAYPOINT_LIST_DRIVER__H 00042 #define __JAUS_MOBILITY_LOCAL_WAYPOINT_LIST_DRIVER__H 00043 00044 #include "jaus/mobility/drivers/listdriver.h" 00045 #include "jaus/mobility/drivers/localwaypointdriver.h" 00046 00047 namespace JAUS 00048 { 00059 class JAUS_MOBILITY_DLL LocalWaypointListDriver : public ListDriver 00060 { 00061 public: 00062 const static std::string Name; 00063 LocalWaypointListDriver(); 00064 virtual ~LocalWaypointListDriver(); 00065 // Method called to begin/continue execution of a list. 00066 virtual void ExecuteList(const double speedMetersPerSecond); 00067 // Method called to check if an element type (message payload) is supported. 00068 virtual bool IsElementSupported(const Message* message) const; 00069 // Method called whenever a message is received. 00070 virtual void Receive(const Message* message); 00071 // Creates messages associated with this service. 00072 virtual Message* CreateMessage(const UShort messageCode) const; 00073 // Generates Local Waypoint Driver related events. 00074 virtual bool GenerateEvent(const Events::Subscription& info) const; 00075 // Adds support for Report Local Waypoint events. 00076 virtual bool IsEventSupported(const Events::Type type, 00077 const double requestedPeriodicRate, 00078 const Message* queryMessage, 00079 double& confirmedPeriodicRate, 00080 std::string& errorMessage) const; 00081 // Gets the current active waypoint element in list. 00082 JAUS::SetLocalWaypoint GetCurrentWaypoint() const; 00083 // Gets the list of waypoints so far. 00084 std::vector<JAUS::SetLocalWaypoint> GetWaypointList() const; 00085 // Prints status to console. 00086 virtual void PrintStatus() const; 00087 }; 00088 } 00089 00090 #endif 00091 /* End of File */
