/********************************************************* * * This source code is part of the Carnegie Mellon Robot * Navigation Toolkit (CARMEN) * * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas * Roy, Sebastian Thrun, Dirk Haehnel, Cyrill Stachniss, * and Jared Glover * * CARMEN is free software; you can redistribute it and/or  * modify it under the terms of the GNU General Public  * License as published by the Free Software Foundation;  * either version 2 of the License, or (at your option) * any later version. * * CARMEN is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR * PURPOSE.  See the GNU General Public License for more  * details. * * You should have received a copy of the GNU General  * Public License along with CARMEN; if not, write to the * Free Software Foundation, Inc., 59 Temple Place,  * Suite 330, Boston, MA  02111-1307 USA * ********************************************************/#ifndef XR4000_CONTROL_H#define XR4000_CONTROL_H#ifdef __cplusplusextern "C" {#endifvoid carmen_xr4000_usage(char *progname, char *fmt, ...);void carmen_xr4000_start(void);void carmen_xr4000_set_velocity(double xv, double yv, double rv);void carmen_xr4000_run(void);void carmen_xr4000_shutdown(int sig);void carmen_xr4000_emergency_crash(int sig __attribute ((unused)));#ifdef __cplusplus}#endif#endif