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 ARACTIONCONSTANTVELOCITY_H 00027 #define ARACTIONCONSTANTVELOCITY_H 00028 00029 #include "ariaTypedefs.h" 00030 #include "ArAction.h" 00031 00033 00036 class ArActionConstantVelocity : public ArAction 00037 { 00038 public: 00040 AREXPORT ArActionConstantVelocity(const char *name = "Constant Velocity", 00041 double velocity = 400); 00043 AREXPORT virtual ~ArActionConstantVelocity(); 00044 AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired); 00045 AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; } 00046 #ifndef SWIG 00047 AREXPORT virtual const ArActionDesired *getDesired(void) const 00048 { return &myDesired; } 00049 #endif 00050 protected: 00051 double myVelocity; 00052 ArActionDesired myDesired; 00053 }; 00054 00055 #endif // ARACTIONCONSTANTVELOCITY_H
1.4.0