uav_simple_tracking.h

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#ifndef UAV_SIMPLE_TRACKING_H
#define UAV_SIMPLE_TRACKING_H

#include <position.h>
#include <cpswarm_msgs/TargetPositionEvent.h>

using namespace std;
using namespace ros;

typedef enum {
    STATE_ACTIVE = 0,
    STATE_SUCCEEDED,
    STATE_ABORTED
} behavior_state_t;

class uav_simple_tracking
{
public:
    uav_simple_tracking (unsigned int target);

    behavior_state_t step ();

private:
    void target_callback (const cpswarm_msgs::TargetPositionEvent::ConstPtr& msg);

    Subscriber target_sub;

    position pos;

    cpswarm_msgs::TargetPositionEvent target;
};

#endif // UAV_SIMPLE_TRACKING_H