00001 #include "PilotRequest.h"
00002
00003 #include "Pilot.h"
00004
00005 namespace DualCoding {
00006
00007 PilotRequest::PilotRequest(PilotRequestType_t _type) :
00008 requestType(_type),
00009 dx(0), dy(0), da(0),
00010 mapBuilderRequest(NULL), mapBuilderRequestFn(NULL),searchRotationAngle(0), exitTest(NULL),
00011 targetShape(),
00012 avoidCliffs(false), cliffThreshold(200), avoidObstacles(false), obstacleThreshold(100),
00013 trackRequest(NULL),
00014 localizationInterval(0), localizationTest(NULL), localizationDisplayParticles(100), localizationDisplayInterval(0),
00015 safeDistanceAroundTarget(300), subtendAngle(0.2f), approachAngle(0.1f),
00016 positionRelativeToTarget(200, 0, 0), angleToPushTarget(M_PI),
00017 buildTargetParamsFn(NULL), buildTargetMapBuilderRequestFn(NULL),
00018 requestID(Pilot::invalid_Pilot_ID) {}
00019
00020 PilotRequest::PilotRequest(const PilotRequest &req) :
00021 requestType(req.requestType),
00022 dx(req.dx), dy(req.dy), da(req.da),
00023 mapBuilderRequest(req.mapBuilderRequest), mapBuilderRequestFn(req.mapBuilderRequestFn),
00024 searchRotationAngle(req.searchRotationAngle), exitTest(req.exitTest),
00025 targetShape(req.targetShape),
00026 avoidCliffs(req.avoidCliffs), cliffThreshold(req.cliffThreshold),
00027 avoidObstacles(req.avoidObstacles), obstacleThreshold(req.obstacleThreshold),
00028 trackRequest(req.trackRequest),
00029 localizationInterval(req.localizationInterval), localizationTest(req.localizationTest),
00030 localizationDisplayParticles(req.localizationDisplayParticles), localizationDisplayInterval(req.localizationDisplayInterval),
00031 safeDistanceAroundTarget(req.safeDistanceAroundTarget), subtendAngle(req.subtendAngle), approachAngle(req.approachAngle),
00032 positionRelativeToTarget(req.positionRelativeToTarget), angleToPushTarget(req.angleToPushTarget),
00033 buildTargetParamsFn(req.buildTargetParamsFn), buildTargetMapBuilderRequestFn(req.buildTargetMapBuilderRequestFn),
00034 requestID(req.requestID) {}
00035
00036 }