target.h

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#ifndef TARGET_H
#define TARGET_H

#include <ros/ros.h>
#include <geometry_msgs/Pose.h>
#include <cpswarm_msgs/TargetPositionEvent.h>

using namespace std;
using namespace ros;

typedef enum {
    TARGET_UNKNOWN = 0, // unknown target
    TARGET_KNOWN,       // target found by another CPS
    TARGET_TRACKED,     // target found by this CPS
    TARGET_ASSIGNED,    // target assigned to any CPS
    TARGET_LOST,        // target lost by any CPS
    TARGET_DONE         // target completed by any CPS
} target_state_t;

class target
{
public:
    target ();

    target (const target& t);

    target (unsigned int id, target_state_t state);

    target (unsigned int id, target_state_t state, geometry_msgs::Pose pose);

    target (unsigned int id, target_state_t state, geometry_msgs::Pose pose, Time stamp);

    ~target ();

    geometry_msgs::Pose get_pose ();

    void lost ();

    void operator= (const target& t);

    void update (target_state_t state, geometry_msgs::Pose pose, Time stamp);

private:
    NodeHandle nh;

    int id;

    target_state_t state;

    geometry_msgs::Pose pose;

    geometry_msgs::Pose last_pose;

    Time stamp;

    Duration timeout;

    Rate* rate;

    double target_tolerance;

    Publisher target_found_pub;

    Publisher target_update_pub;

    Publisher target_lost_pub;

    Publisher target_done_pub;
};

#endif // TARGET_H