CARMEN: base/segway_base/segway_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 
00029 // @{
00030 
00038 #ifndef SEGWAY_INTERFACE_H
00039 #define SEGWAY_INTERFACE_H
00040 
00041 #ifdef __cplusplus
00042 extern "C" {
00043 #endif
00044 
00045 #include "segway_messages.h"
00046 
00047 void
00048 carmen_segway_subscribe_pose_message(carmen_segway_pose_message *pose,
00049                                      carmen_handler_t handler,
00050                                      carmen_subscribe_t subscribe_how);
00051 
00052 void
00053 carmen_segway_subscribe_battery_message(carmen_segway_battery_message *battery,
00054                                         carmen_handler_t handler,
00055                                         carmen_subscribe_t subscribe_how);
00056 
00057 void carmen_segway_kill_command(void);
00058 
00059 #ifdef __cplusplus
00060 }
00061 #endif
00062 
00063 #endif
00064 // @}