ArActionBumpers.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program 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.

     This program 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 this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/


#ifndef ARACTIONBUMPERS_H
#define ARACTIONBUMPERS_H

#include "ariaTypedefs.h"
#include "ArAction.h"


class ArActionBumpers : public ArAction
{
public:
  AREXPORT ArActionBumpers(const char *name = "bumpers", 
               double backOffSpeed = 100, int backOffTime = 3000,
               int turnTime = 3000, bool setMaximums = false);
  AREXPORT virtual ~ArActionBumpers();
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
  AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
  AREXPORT virtual const ArActionDesired *getDesired(void) const 
                                                        { return &myDesired; }
#endif
  AREXPORT double findDegreesToTurn(int bumpValue, int whichBumper);
protected:
  ArActionDesired myDesired;
  bool mySetMaximums;
  double myBackOffSpeed;
  int myBackOffTime;
  int myTurnTime;
  //int myStopTime;
  bool myFiring;
  double mySpeed;
  double myHeading;
  int myBumpMask;
  ArTime myStartBack;
  //ArTime myStoppedSince;
};

#endif // ARACTIONBUMPERS

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