/////////////////////////////////////////////////////////////////////////////// File: omniposition.hh// Author: Andrew Howard// Date: 19 Oct 2001// Desc: Simulates an omni-robot//// CVS info://  $Source: /cvsroot/playerstage/code/stage/src/models/Attic/omnipositiondevice.hh,v $//  $Author: gerkey $//  $Revision: 1.2.4.1 $//// Usage://  (empty)//// Theory of operation://  (empty)//// Known bugs://  (empty)//// Possible enhancements://  (empty)/////////////////////////////////////////////////////////////////////////////#ifndef OMNIPOSITIONDEVICE_H#define OMNIPOSITIONDEVICE_H#include "stage1p3.h"#include "playerdevice.hh"class COmniPositionDevice : public CPlayerEntity{  // Minimal constructor  public: COmniPositionDevice( LibraryItem *libit, CWorld *world, CEntity *parent);      // a static named constructor - a pointer to this function is given  // to the Library object and paired with a string.  When the string  // is seen in the worldfile, this function is called to create an  // instance of this entitypublic: static COmniPositionDevice* Creator(  LibraryItem *libit, CWorld *world, CEntity *parent )  { return( new COmniPositionDevice( libit, world, parent ) ); }  // Startup routine  public: virtual bool Startup();    // Update the device  public: virtual void Update( double sim_time );  // Move the device  private: void Move();  // Extract command from the command buffer  private: void ParseCommandBuffer( void );				      // Compose the reply packet  private: void ComposeData( void );  // Timings  private: double last_time;  // Current command and data buffers  private: player_position_cmd_t command;  private: player_position_data_t data;  // Commanded velocities  private: double com_vx, com_vy, com_va;      // Stall flag -- set if robot is stalled  private: int stall;  // Current odometry values  private: double odo_px, odo_py, odo_pa;};#endif