ArActionDeceleratingLimiter.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 ARACTIONDECELERATINGLIMITER_H
#define ARACTIONDECELERATINGLIMITER_H

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


class ArActionDeceleratingLimiter : public ArAction
{
public:
  AREXPORT ArActionDeceleratingLimiter(const char *name = "limitAndDecel", 
                       bool forwards = true);
  AREXPORT virtual ~ArActionDeceleratingLimiter();
  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 void setParameters(double clearance = 100,
                  double sideClearanceAtSlowSpeed = 50,
                  double paddingAtSlowSpeed = 50,
                  double slowSpeed = 200,
                  double sideClearanceAtFastSpeed = 400,
                  double paddingAtFastSpeed = 300,
                  double fastSpeed = 1000,
                  double preferredDecel = 600,
                  bool useEStop = false,
                  double maxEmergencyDecel = 0);
  bool getForwards(void) { return myForwards; }
  void setForwards(bool forwards) { myForwards = forwards; }
  AREXPORT void addToConfig(ArConfig *config, const char *section,
                const char *prefix = NULL);
  bool getUseLocationDependentDevices(void) 
    { return myUseLocationDependentDevices; }
  void setUseLocationDependentDevices(bool useLocationDependentDevices)
    { myUseLocationDependentDevices = useLocationDependentDevices; }
protected:
  bool myLastStopped;
  bool myForwards;
  double myClearance;
  double mySideClearanceAtSlowSpeed;
  double myPaddingAtSlowSpeed;
  double mySlowSpeed;
  double mySideClearanceAtFastSpeed;
  double myPaddingAtFastSpeed;
  double myFastSpeed;
  double myPreferredDecel;
  double myMaxEmergencyDecel;
  bool myUseEStop;
  bool myUseLocationDependentDevices;
//unused?  double myDecelerateDistance;
  ArActionDesired myDesired;
};

#endif // ARACTIONSPEEDLIMITER_H

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