CARMEN: simulator/simulator_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 SIMULATOR_INTERFACE_H
00039 #define SIMULATOR_INTERFACE_H
00040 
00041 #ifdef __cplusplus
00042 extern "C" {
00043 #endif
00044 
00045 #include <carmen/carmen.h>
00046 
00047 int 
00048 carmen_simulator_set_truepose(carmen_point_t *point);
00049 
00050 void 
00051 carmen_simulator_subscribe_truepos_message(carmen_simulator_truepos_message
00052                                            *truepos,
00053                                            carmen_handler_t handler,
00054                                            carmen_subscribe_t subscribe_how);
00055 int
00056 carmen_simulator_query_truepos(carmen_simulator_truepos_message **truepos_msg);
00057 
00058 void 
00059 carmen_simulator_subscribe_objects_message(carmen_simulator_objects_message 
00060                                            *objects,
00061                                            carmen_handler_t handler,
00062                                            carmen_subscribe_t subscribe_how);
00063 int 
00064 carmen_simulator_query_objects(carmen_simulator_objects_message **objects_msg);
00065 
00066 int 
00067 carmen_simulator_set_object(carmen_point_t *point, double speed,
00068                             carmen_simulator_object_t type);
00069 
00070 void carmen_simulator_connect_robots(char *other_central);
00071 
00072 void carmen_simulator_clear_objects(void);
00073 
00074 void carmen_simulator_next_tick(void);
00075 
00076 #ifdef __cplusplus
00077 }
00078 #endif
00079 
00080 #endif
00081 // @}