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This commit is contained in:
Ruixiang Du
2021-07-08 23:45:29 +08:00
parent 3c56ae3a0a
commit 08d16fedff
2 changed files with 6 additions and 1 deletions
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6
include/ugv_sdk/details/robot_base/scout_base.hpp
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@@ -17,7 +17,6 @@
#include "ugv_sdk/interface/scout_interface.hpp" #include "ugv_sdk/interface/scout_interface.hpp"
#include "ugv_sdk/details/robot_base/agilex_base.hpp" #include "ugv_sdk/details/robot_base/agilex_base.hpp"
#include "ugv_sdk/protocol_v2/protocol_v2_parser.hpp"
namespace westonrobot { namespace westonrobot {
template <typename Parser> template <typename Parser>
@@ -112,8 +111,13 @@ class ScoutBase : public AgilexBase<Parser>, public ScoutInterface {
} }
} }
}; };
} // namespace westonrobot
#include "ugv_sdk/protocol_v1/scout_protocol_v1_parser.hpp"
#include "ugv_sdk/protocol_v2/protocol_v2_parser.hpp"
namespace westonrobot {
using ScoutBaseV1 = ScoutBase<ScoutProtocolV1Parser>;
using ScoutBaseV2 = ScoutBase<ProtocolV2Parser>; using ScoutBaseV2 = ScoutBase<ProtocolV2Parser>;
} // namespace westonrobot } // namespace westonrobot

1
src/mobile_base/scout_robot.cpp
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@@ -13,6 +13,7 @@
namespace westonrobot { namespace westonrobot {
ScoutRobot::ScoutRobot(ProtocolType protocol) { ScoutRobot::ScoutRobot(ProtocolType protocol) {
if (protocol == ProtocolType::AGX_V1) { if (protocol == ProtocolType::AGX_V1) {
robot_ = new ScoutBaseV1();
} else if (protocol == ProtocolType::AGX_V2) { } else if (protocol == ProtocolType::AGX_V2) {
robot_ = new ScoutBaseV2(); robot_ = new ScoutBaseV2();
} }