added hunter support

src/mobile_robot/hunter_robot.cpp

@@ -0,0 +1,50 @@
+/*
+ * hunter_robot.cpp
+ *
+ * Created on: Jul 14, 2021 23:30
+ * Description:
+ *
+ * Copyright (c) 2021 Ruixiang Du (rdu)
+ */
+
+#include "ugv_sdk/mobile_robot/hunter_robot.hpp"
+#include "ugv_sdk/details/robot_base/hunter_base.hpp"
+
+namespace westonrobot {
+HunterRobot::HunterRobot(ProtocolVersion protocol) {
+  if (protocol == ProtocolVersion::AGX_V1) {
+    robot_ = new HunterBaseV1();
+  } else if (protocol == ProtocolVersion::AGX_V2) {
+    robot_ = new HunterBaseV2();
+  }
+}
+
+HunterRobot::~HunterRobot() {
+  if (robot_) delete robot_;
+}
+
+void HunterRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
+
+void HunterRobot::Connect(std::string can_name) { robot_->Connect(can_name); }
+
+void HunterRobot::ResetRobotState() { robot_->ResetRobotState(); }
+
+ProtocolVersion HunterRobot::GetProtocolVersion() {
+  return robot_->GetProtocolVersion();
+}
+
+void HunterRobot::SetMotionCommand(double linear_vel, double angular_vel) {
+  auto hunter = dynamic_cast<HunterInterface*>(robot_);
+  hunter->SetMotionCommand(linear_vel, angular_vel);
+}
+
+HunterCoreState HunterRobot::GetRobotState() {
+  auto hunter = dynamic_cast<HunterInterface*>(robot_);
+  return hunter->GetRobotState();
+}
+
+HunterActuatorState HunterRobot::GetActuatorState() {
+  auto hunter = dynamic_cast<HunterInterface*>(robot_);
+  return hunter->GetActuatorState();
+}
+}  // namespace westonrobot