CARMEN: base/base_interface.h Source File

00001 /*********************************************************
00002  *
00003  * This source code is part of the Carnegie Mellon Robot
00004  * Navigation Toolkit (CARMEN)
00005  *
00006  * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas
00007  * Roy, and Sebastian Thrun
00008  *
00009  * CARMEN is free software; you can redistribute it and/or 
00010  * modify it under the terms of the GNU General Public 
00011  * License as published by the Free Software Foundation; 
00012  * either version 2 of the License, or (at your option)
00013  * any later version.
00014  *
00015  * CARMEN is distributed in the hope that it will be useful,
00016  * but WITHOUT ANY WARRANTY; without even the implied 
00017  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00018  * PURPOSE.  See the GNU General Public License for more 
00019  * details.
00020  *
00021  * You should have received a copy of the GNU General 
00022  * Public License along with CARMEN; if not, write to the
00023  * Free Software Foundation, Inc., 59 Temple Place, 
00024  * Suite 330, Boston, MA  02111-1307 USA
00025  *
00026  ********************************************************/
00027 
00028 
00030 // @{
00031 
00040 #ifndef CARMEN_BASE_INTERFACE_H
00041 #define CARMEN_BASE_INTERFACE_H
00042 
00043 #include <carmen/base_messages.h>
00044 
00045 #ifdef __cplusplus
00046 extern "C" {
00047 #endif
00048 
00049 void carmen_base_subscribe_odometry_message(carmen_base_odometry_message 
00050                                             *odometry,
00051                                             carmen_handler_t handler,
00052                                             carmen_subscribe_t subscribe_how);
00053 
00054 void carmen_base_subscribe_sonar_message(carmen_base_sonar_message *sonar,
00055                                          carmen_handler_t handler,
00056                                          carmen_subscribe_t subscribe_how);
00057 
00058 void carmen_base_subscribe_bumper_message(carmen_base_bumper_message *bumper,
00059                                           carmen_handler_t handler,
00060                                           carmen_subscribe_t subscribe_how);
00061 
00062 void carmen_base_subscribe_reset_occurred_message(carmen_default_message *reset,
00063                                                   carmen_handler_t handler,
00064                                                   carmen_subscribe_t subscribe_how);
00065 void carmen_base_reset(void);
00066 #ifdef __cplusplus
00067 }
00068 #endif
00069 
00070 #endif