ArActionKeydrive.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 ARACTIONKEYDRIVE_H
#define ARACTIONKEYDRIVE_H

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

class ArRobot;

class ArActionKeydrive : public ArAction
{
public:
 AREXPORT ArActionKeydrive(const char *name = "keydrive",
               double transVelMax = 400,
               double turnAmountMax = 24,
               double velIncrement = 25,
               double turnIncrement = 8);
  AREXPORT virtual ~ArActionKeydrive();
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
  AREXPORT void setSpeeds(double transVelMax, double turnAmountMax);
  AREXPORT void setIncrements(double velIncrement, double turnIncrement);
  AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
  AREXPORT virtual const ArActionDesired *getDesired(void) const 
                                                        { return &myDesired; }
#endif
  AREXPORT virtual void setRobot(ArRobot *robot);
  AREXPORT virtual void activate(void);
  AREXPORT virtual void deactivate(void);
  AREXPORT void takeKeys(void);
  AREXPORT void giveUpKeys(void);
  AREXPORT void up(void);
  AREXPORT void down(void);
  AREXPORT void left(void);
  AREXPORT void right(void);
  AREXPORT void space(void);

protected:
  ArFunctorC<ArActionKeydrive> myUpCB;
  ArFunctorC<ArActionKeydrive> myDownCB;
  ArFunctorC<ArActionKeydrive> myLeftCB;
  ArFunctorC<ArActionKeydrive> myRightCB;
  ArFunctorC<ArActionKeydrive> mySpaceCB;
  // action desired
  ArActionDesired myDesired;
  // full speed
  double myTransVelMax;
  // full amount to turn
  double myTurnAmountMax;
  // amount to increment vel by on an up arrow or decrement on a down arrow
  double myVelIncrement;
  // amount to increment turn by on a left arrow or right arrow
  double myTurnIncrement;
  // amount we want to speed up
  double myDeltaVel;
  // amount we want to turn 
  double myTurnAmount;
  // what speed we want to go
  double myDesiredSpeed;
  // if our speeds been reset
  bool mySpeedReset;
};


#endif // ARACTIONKEYDRIVE_H

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