ArActionGotoStraight.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 ARACTIONGOTOSTRAIGHT_H
#define ARACTIONGOTOSTRAIGHT_H

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


class ArActionGotoStraight : public ArAction
{
public:
  AREXPORT ArActionGotoStraight(const char *name = "goto", 
                double speed = 400);
  AREXPORT virtual ~ArActionGotoStraight();

  AREXPORT bool haveAchievedGoal(void);
  AREXPORT void cancelGoal(void);
  AREXPORT void setGoal(ArPose goal, bool backwards = false, 
            bool justDistance = true);
  AREXPORT void setGoalRel(double dist, double deltaHeading, 
               bool backwards = false, bool justDistance = true);
  ArPose getGoal(void) { return myGoal; }
  bool usingEncoderGoal(void) { return myUseEncoderGoal; }
  AREXPORT void setEncoderGoal(ArPose encoderGoal, bool backwards = false,
                   bool justDistance = true);
  AREXPORT void setEncoderGoalRel(double dist, double deltaHeading, 
                  bool backwards = false, 
                  bool justDistance = true);
  ArPose getEncoderGoal(void) { return myEncoderGoal; }
  void setSpeed(double speed) { mySpeed = speed; }
  double getSpeed(void) { return mySpeed; }
  void setCloseDist(double closeDist = 100) { myCloseDist = closeDist; } 
  double getCloseDist(void) { return myCloseDist; }
  bool getBacking(void) { return myBacking; }
  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:
  ArPose myGoal;
  bool myUseEncoderGoal;
  ArPose myEncoderGoal;
  double mySpeed;
  bool myBacking;
  ArActionDesired myDesired;
  bool myPrinting;
  double myDist;
  double myCloseDist;

  bool myJustDist;

  double myDistTravelled;
  ArPose myLastPose;
  
  enum State
  {
    STATE_NO_GOAL, 
    STATE_ACHIEVED_GOAL,
    STATE_GOING_TO_GOAL
  };
  State myState;
};

#endif // ARACTIONGOTO

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