Diff: myRos.h

Revision:

3:a45557a0dcb8

Parent:

1:bdd17feaa4ce

Child:

4:cf1a4e503974

--- a/myRos.h	Fri Dec 07 22:34:31 2018 +0000
+++ b/myRos.h	Tue Dec 11 17:51:47 2018 +0000
@@ -24,26 +24,20 @@
     private:
         ros::NodeHandle nh_;
         bool court_color_;
-        Vec3f initial_pose_;
-        Vec3f pose_;            //current position(odom -> base_footprint)
         
     public:
         //Constructor
-        My_Ros() : court_color_(COURT_RED){
+        My_Ros(Odom *odom) : court_color_(COURT_RED){
+            set_instance(odom);
+            
             //ROS node initialize
             nh_.getHardware()->setBaud(115200);
             nh_.initNode();
             
             initialize();
         }
-        
-        //Loop function
-        void loop();
                 
         //Setter
-        void set_initial_pose(Vec3f initial_pose){
-           initial_pose_ = initial_pose;
-        }
         void set_court_color(bool court_color){
             court_color_ = court_color;   
         }
@@ -64,8 +58,8 @@
         void initial_pose_publisher();
         void pose_publisher();
         
-        //Amcl parameter
-        void set_amcl_parameter();
+        //Overlap function
+        virtual void loop();
 };
 
 #endif
\ No newline at end of file