#ifndef ROBOT_ACTION_H#define ROBOT_ACTION_H#include <vector>#include "Action.h"#include "OdometryState.h"#define MAX_TVELOCITY 1000  // mm per sec#define MAX_RVELOCITY 360   // deg per secusing namespace std;class RobotAction : public Action{   private:      OdometryState *odometry;   public:      RobotAction(bool useKalmanPoses=true);      ~RobotAction();      /**************************** Motor ****************************/            // Sets both velocity at once      void setVelocity(int tv, int rv);            // Stops the motor      void setMotorStop(void);            // Turns the motor off      void setMotorOn(void);            // Turns the motor on      void setMotorOff(void);            // Resets the odometry counter      void setPosReset(void);	        /**************************** RobotInfo  ****************************/      double getPosX(void) {return odometry->getPosX();}      double getPosZ(void) {return odometry->getPosZ();}      double getPosTh(void) {return odometry->getPosTh();}      struct timeval getPosTimestamp(void) {return odometry->getPosTimestamp();}      double getTVelocity(void) {return odometry->getTVel();}      double getRVelocity(void) {return odometry->getRVel();}      double getBattery(void) {return odometry->getBatteryState();}      int isLeftWheelStuck(void) {return 0;}      int isRightWheelStuck(void) {return 0;}      int getMaxRVelocity() {return MAX_RVELOCITY;}      int getMaxTVelocity() {return MAX_TVELOCITY;}};#endif/********************************************************************* * (C) Copyright 2006 Albert Ludwigs University Freiburg *     Institute of Computer Science * * All rights reserved. Use of this software is permitted for * non-commercial research purposes, and it may be copied only * for that use. All copies must include this copyright message. * This software is made available AS IS, and neither the authors * nor the Albert Ludwigs University Freiburg make any warranty * about the software or its performance. *********************************************************************/