AirLibBase.h

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#ifndef   _GAMS_PLATFORM_AIRLIB_BASE_H_
#define   _GAMS_PLATFORM_AIRLIB_BASE_H_
 
#ifdef _GAMS_AIRLIB_
 
#include "gams/variables/Self.h"
#include "gams/variables/Sensor.h"
#include "gams/variables/PlatformStatus.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/pose/GPSFrame.h"
#include "gams/pose/CartesianFrame.h"
#include "madara/knowledge/KnowledgeBase.h"
 
#ifdef __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpedantic"
#endif
 
#ifdef __GNUC__
#pragma GCC diagnostic pop
#endif
 
#include <iostream>
#include <vehicles/multirotor/api/MultirotorRpcLibClient.hpp>
 
namespace gams
{
  namespace platforms
  {
    class GAMS_EXPORT AirLibBase : public BasePlatform
    {
    public:
      AirLibBase(
        madara::knowledge::KnowledgeBase * knowledge,
        variables::Sensors * sensors,
        variables::Self * self);
 
      virtual int sense(void) override;
 
      virtual int analyze(void) override;
 
      virtual int land(void) override;
 
      int move(const pose::Position & position,
        const pose::PositionBounds &bounds) override;
 
      // inherit BasePlatform's move overloads
      using BasePlatform::move;
 
      virtual void set_move_speed(const double& speed) override;
 
      virtual int takeoff(void) override;
 
      virtual const pose::ReferenceFrame & get_frame(void) const override;
 
 
    protected:
      pose::ReferenceFrame * frame_;
 
      msr::airlib::MultirotorRpcLibClient client;
      void wait_for_go() const;
 
      bool ready_;
    }; // class AirLibQuadcopterBase
  } // namespace platform
} // namespace gams
 
#endif // _GAMS_AIRLIB_
 
#endif // _GAMS_PLATFORM_AIRLIB_BASE_H_