Aria: ArActionAvoidFront.h Source File

00001 /*
00002 MobileRobots Advanced Robotics Interface for Applications (ARIA)
00003 Copyright (C) 2004, 2005 ActivMedia Robotics LLC
00004 Copyright (C) 2006, 2007 MobileRobots Inc.
00005 
00006      This program is free software; you can redistribute it and/or modify
00007      it under the terms of the GNU General Public License as published by
00008      the Free Software Foundation; either version 2 of the License, or
00009      (at your option) any later version.
00010 
00011      This program is distributed in the hope that it will be useful,
00012      but WITHOUT ANY WARRANTY; without even the implied warranty of
00013      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014      GNU General Public License for more details.
00015 
00016      You should have received a copy of the GNU General Public License
00017      along with this program; if not, write to the Free Software
00018      Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019 
00020 If you wish to redistribute ARIA under different terms, contact 
00021 MobileRobots for information about a commercial version of ARIA at 
00022 robots@mobilerobots.com or 
00023 MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
00024 */
00025 
00026 #ifndef ARACTIONAVOIDFRONT_H
00027 #define ARACTIONAVOIDFRONT_H
00028 
00029 #include "ariaTypedefs.h"
00030 #include "ariaUtil.h"
00031 #include "ArFunctor.h"
00032 #include "ArAction.h"
00033 
00035 
00049 class ArActionAvoidFront : public ArAction
00050 {
00051 public:
00053   AREXPORT ArActionAvoidFront(const char *name = "avoid front obstacles", 
00054              double obstacleDistance = 450, double avoidVelocity = 200,
00055              double turnAmount = 15, bool useTableIRIfAvail = true);
00057   AREXPORT virtual ~ArActionAvoidFront();
00058   AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
00059   AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
00060 #ifndef SWIG
00061   AREXPORT virtual const ArActionDesired *getDesired(void) const 
00062                                                         { return &myDesired; }
00063 #endif
00064 protected:
00065   double myTurnAmount;
00066   double myObsDist;
00067   double myAvoidVel;
00068   double myTurnAmountParam;
00069   bool myUseTableIRIfAvail;
00070   int myTurning; // 1 for turning left, 0 for not turning, -1 for turning right
00071   ArActionDesired myDesired;
00072   ArSectors myQuadrants;
00073   ArFunctorC<ArActionAvoidFront> myConnectCB;
00074 };
00075 
00076 #endif // ARACTIONAVOIDFRONT_H