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command_chain.h

Go to the documentation of this file.

/*
Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2005  Derek Jones

This library is free software; you can redistribute it  and/or
modify it under the terms of the GNU Lesser General Public
License  as published by the Free Software Foundation; either
version 2.1 of the  License, or (at your option) any later version.

This library is  distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY;  without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A  PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more  details.

You should have received a copy of the GNU Lesser General  Public
License along with this library; if not, write to the Free  Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA   02111-1307  USA


 * $Id: command_chain.h,v 1.2 2007/10/09 01:59:00 derek Exp $
*/

#ifndef __COMMAND_CHAIN
#define __COMMAND_CHAIN
const int COMMAND_CHAIN_MAX = 100;
#include <chain.h>
#include <pose.h>
using namespace std;
struct command
{
  command(void);
  command(const command& c);
  pose          dest;           // final position
  foo       function;   // command to execute at that position.
  void*   data;
};

class command_chain : public chain
{
public:
  command_chain(void);
  bool append(const command&); 
  bool append(const pose& ipose,  foo f, void* d); 
  const command serve(void);    
  command operator[](int) const;        
private:
  command _command_chain[COMMAND_CHAIN_MAX];
};

#endif

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