ArActionGoto.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 ARACTIONGOTO_H
#define ARACTIONGOTO_H

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


class ArActionGoto : public ArAction
{
public:
  AREXPORT ArActionGoto(const char *name = "goto", 
            ArPose goal = ArPose(0.0, 0.0, 0.0), 
            double closeDist = 100, double speed = 400,
            double speedToTurnAt = 150, double turnAmount = 7);
  AREXPORT virtual ~ArActionGoto();

  AREXPORT bool haveAchievedGoal(void);

  AREXPORT void cancelGoal(void);

  AREXPORT void setGoal(ArPose goal);

  AREXPORT ArPose getGoal(void) { return myGoal; }

  AREXPORT void setCloseDist(double closeDist) { myCloseDist = closeDist; }
  AREXPORT double getCloseDist(void) { return myCloseDist; }
  AREXPORT void setSpeed(double speed) { mySpeed = speed; }
  AREXPORT double getSpeed(void) { return mySpeed; }

  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;
  double myCloseDist;
  double mySpeed;
  double mySpeedToTurnAt;
  double myDirectionToTurn;
  double myCurTurnDir;
  double myTurnAmount;
  ArActionDesired myDesired;
  bool myTurnedBack;
  bool myPrinting;
  ArPose myOldGoal;
  
  enum State
  {
    STATE_NO_GOAL, 
    STATE_ACHIEVED_GOAL,
    STATE_GOING_TO_GOAL
  };
  State myState;
};

#endif // ARACTIONGOTO

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