smoothPath.hpp

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#ifndef QTCTRL_SMOOTH_PATH_CTRL
#define QTCTRL_SMOOTH_PATH_CTRL

#include <ctrl/reach.hpp>
#include <iSeeML/rob/FscPath.hpp>

class SmoothPathCtrl : public ReachingCtrl {
  Q_OBJECT  // This macro is needed to handle signals
  
  iSeeML::rob::FscPath path;  
  double total_distance;         
  double distance;        

  // Cf ReachingCtrl::setGoal(const State&)
  void setGoal(const State& goal);
    
public:
  SmoothPathCtrl(const MotionModel& model, const double& ts,
                 const State& goal_aimed)
    // the path will be correctly set at first odometry data
    : ReachingCtrl(model, ts, goal_aimed) {}

  virtual ~SmoothPathCtrl() {}
  
  const iSeeML::rob::Path& getPath() const;
  
  const std::list<State*>& getAimedTrajectory() const;
  
  // Cf Controller::choose_velocities(double&, double&, ...)
  void chooseVelocities(double& trans_vel, double& rot_vel,
                        std::ostream&);

Q_SIGNALS:  // new signal

  void pathChanged();

};  // end of class SmoothPathCtrl

#endif // QTCTRL_SMOOTH_PATH_CTRL