jaus++/2.0/include/jaus/mobility/drivers/waypoint.h
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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_DATA_WAYPOINT__H 00042 #define __JAUS_MOBILITY_DATA_WAYPOINT__H 00043 00044 #include "jaus/core/types.h" 00045 #include "jaus/mobility/jausmobilitydll.h" 00046 00047 namespace JAUS 00048 { 00058 class JAUS_MOBILITY_DLL Waypoint 00059 { 00060 public: 00061 Waypoint(); 00062 virtual ~Waypoint(); 00063 // Method to mark this as the current waypoint being navigated to. 00064 void SetCurrentWaypoint(const bool onFlag = true); 00065 // Method to mark that the waypoint has been completed. 00066 void SetWaypointAcheived(const bool flag = true); 00067 // Is this the current waypoint being driven to? 00068 bool IsCurrentWaypoint() const; 00069 // Has this waypoint been achieved yet. 00070 bool IsWaypointAcheived() const; 00071 // Is this the same waypoint, with some allowed error? 00072 virtual bool IsSameAs(const Waypoint* waypoint, const double errorInMeters = 0.25) const = 0; 00073 protected: 00074 bool mActiveFlag; 00075 bool mFinishedFlag; 00076 }; 00077 } 00078 00079 #endif 00080 /* End of File */
