ArActionDriveDistance.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 ARACTIONDRIVEDISTANCE_H
#define ARACTIONDRIVEDISTANCE_H

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


class ArActionDriveDistance : public ArAction
{
public:
  AREXPORT ArActionDriveDistance(const char *name = "driveDistance", 
                double speed = 400, double deceleration = 200);
  AREXPORT virtual ~ArActionDriveDistance();

  AREXPORT bool haveAchievedDistance(void);
  AREXPORT void cancelDistance(void);
  AREXPORT void setDistance(double distance, bool useEncoders = true);
  bool usingEncoders(void) { return myUseEncoders; }
  void setSpeed(double speed = 400) { mySpeed = speed; }
  double getSpeed(void) { return mySpeed; }
  void setDeceleration(double deceleration = 200) 
    { myDeceleration = deceleration; }
  double getDeceleration(void) { return myDeceleration; }
  void setPrinting(bool printing) { myPrinting = printing; }
  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
protected:
  double myDistance;
  bool myUseEncoders;
  double mySpeed;
  double myDeceleration;
  ArActionDesired myDesired;
  bool myPrinting;
  double myLastVel;

  double myDistTravelled;
  ArPose myLastPose;
  
  enum State
  {
    STATE_NO_DISTANCE, 
    STATE_ACHIEVED_DISTANCE,
    STATE_GOING_DISTANCE
  };
  State myState;
};

#endif // ARACTIONDRIVE

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