src/smp/interfaces/libbot.h

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#ifndef _SMP_INTERFACE_LIBBOT_H_
#define _SMP_INTERFACE_LIBBOT_H_

#include <smp/planners/base.h>

#include <smp/interfaces/base.h>
#include <smp/common/region.h>

#include <common/globals.h>
#include "../../../../libbot/src/lcmtypes/lcmtypes.h"


namespace smp {

    template< class typeparams > class interface_libbot;


    class interface_libbot_environment {
    
        template< class typeparams > friend class interface_libbot;
    
        typedef region<3> region_t;

        region_t operating;
        region_t goal;
        list<region_t*> obstacles;

    
    public:

        interface_libbot_environment ();
        ~interface_libbot_environment ();

        int set_operating_region (const region_t &region_in);

        int set_goal_region (const region_t &region_in);
    
        int clear_obstacle_list ();
    
        int add_obstacle (const region_t &region_in);
    
    };




    template< class typeparams >
    class interface_libbot : public interface_base<typeparams> {


        typedef typename typeparams::state state_t;
        typedef typename typeparams::input input_t;
        typedef typename typeparams::vertex_data vertex_data_t;
        typedef typename typeparams::edge_data edge_data_t;
    
        typedef vertex<typeparams> vertex_t;
        typedef edge<typeparams> edge_t;

        typedef trajectory<typeparams> trajectory_t;

        typedef planner<typeparams> planner_t;

        typedef interface_libbot_environment environment_t;

        typedef region<3> region_t;

        lcm_t *lcm;

        int visualize_3d_on;


        planner_t *planner_int;

    public:    
    
        interface_libbot ();
        ~interface_libbot ();
    
        int set_planner (planner_t *planner_in);


        int visualize_2d (); 


        int visualize_3d ();

        int publish_environment (const environment_t &environment_in);


        int publish_data ();    


        int publish_trajectory (trajectory_t &trajectory_in);

    };


}

#endif