AirLibQuadcopter.h

Go to the documentation of this file.

 
#ifndef   _GAMS_PLATFORM_AIRLIB_QUADCOPTER_H_
#define   _GAMS_PLATFORM_AIRLIB_QUADCOPTER_H_
 
#include "gams/platforms/PlatformFactory.h"
#include "gams/platforms/airlib/AirLibBase.h"
 
#include "gams/variables/Self.h"
#include "gams/variables/Sensor.h"
#include "gams/pose/GPSFrame.h"
#include "gams/variables/PlatformStatus.h"
#include "gams/pose/CartesianFrame.h"
 
#include "madara/knowledge/KnowledgeBase.h"
#include "madara/threads/Threader.h"
 
#ifdef _GAMS_AIRLIB_
 
namespace gams
{
  namespace platforms
  {
    class GAMS_EXPORT AirLibQuadcopter : public AirLibBase
    {
 
    public:
 
      AirLibQuadcopter(
        madara::knowledge::KnowledgeBase * knowledge,
        variables::Sensors * sensors,
        variables::Self * self
      );
 
      virtual ~AirLibQuadcopter();
      
      virtual std::string get_id() const override;
 
      virtual std::string get_name() const override;
 
      virtual int sense() override;
 
      virtual int home() override;
 
      virtual int takeoff() override;
 
      virtual int land() override;
 
      virtual int move(const gams::pose::Position & location, const gams::platforms::PositionBounds & bounds) override;
 
      virtual const gams::pose::ReferenceFrame& get_frame() const override;
 
      int rotate(const gams::pose::Orientation &target, double epsilon);
 
    private:
 
      std::string vehicle_name_;
 
      madara::threads::Threader threader_;  
 
    }; // class AirLibQuadcopter
 
    class GAMS_EXPORT AirLibQuadcopterFactory : public PlatformFactory
    {
    public:
 
      virtual ~AirLibQuadcopterFactory(){};
 
      virtual BasePlatform * create(
        const madara::knowledge::KnowledgeMap & args,
        madara::knowledge::KnowledgeBase * knowledge,
        variables::Sensors * sensors,
        variables::Platforms * platforms,
        variables::Self * self);
    };
  } // namespace platform
} // namespace gams
 
#endif // _GAMS_AIRLIB_
 
#endif // _GAMS_PLATFORM_AIRLIB_QUADCOPTER_H_