Modules/SelfLocator/GTCamSelfLocator.h

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/**
* @file Modules/SelfLocator/GTCamSelfLocator.h
* 
* This file contains a class for self-localization using the worldstate of the GTCam.
*
* @author <a href="mailto:timo.diekmann@uni-dortmund.de">Timo Diekmann</a>
*/

#ifndef __GTCamSelfLocator_h_
#define __GTCamSelfLocator_h_

#include "SelfLocator.h"

/**
* The class implements self-localization using the worldstate of the GTCam.
*/
class GTCamSelfLocator : public SelfLocator {
public:
    /** 
    * Constructor.
    * @param interfaces The parameters of the SelfLocator module.
    */
    GTCamSelfLocator(const SelfLocatorInterfaces& interfaces);
    
    /**
     * The function executes the module.
     */
    virtual void execute();
    virtual bool handleMessage(InMessage& message);

private:
   /** 
   * The last position
   */
  RobotPose lastPose;
};

#endif // __GTCamSelfLocator_h_

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