Aria: ArActionLimiterForwards.h Source File

00001 /*
00002 MobileRobots Advanced Robotics Interface for Applications (ARIA)
00003 Copyright (C) 2004, 2005 ActivMedia Robotics LLC
00004 Copyright (C) 2006, 2007 MobileRobots Inc.
00005 
00006      This program is free software; you can redistribute it and/or modify
00007      it under the terms of the GNU General Public License as published by
00008      the Free Software Foundation; either version 2 of the License, or
00009      (at your option) any later version.
00010 
00011      This program is distributed in the hope that it will be useful,
00012      but WITHOUT ANY WARRANTY; without even the implied warranty of
00013      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014      GNU General Public License for more details.
00015 
00016      You should have received a copy of the GNU General Public License
00017      along with this program; if not, write to the Free Software
00018      Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019 
00020 If you wish to redistribute ARIA under different terms, contact 
00021 MobileRobots for information about a commercial version of ARIA at 
00022 robots@mobilerobots.com or 
00023 MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
00024 */
00025 
00026 #ifndef ARACTIONSPEEDLIMITER_H
00027 #define ARACTIONSPEEDLIMITER_H
00028 
00029 #include "ariaTypedefs.h"
00030 #include "ArAction.h"
00031 
00033 
00038 class ArActionLimiterForwards : public ArAction
00039 {
00040 public:
00042   AREXPORT ArActionLimiterForwards(const char *name = "speed limiter", 
00043                    double stopDistance = 250,
00044                    double slowDistance = 1000,
00045                    double slowSpeed = 200,
00046                    double widthRatio = 1);
00048   AREXPORT virtual ~ArActionLimiterForwards();
00049   AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
00050   AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
00051 #ifndef SWIG
00052   AREXPORT virtual const ArActionDesired *getDesired(void) const 
00053                                                         { return &myDesired; }
00054 #endif
00055   AREXPORT void setParameters(double stopDistance = 250,
00056                   double slowDistance = 1000,
00057                   double slowSpeed = 200,
00058                   double widthRatio = 1);
00059 protected:
00060   bool myLastStopped;
00061   double myStopDist;
00062   double mySlowDist;
00063   double mySlowSpeed;
00064   double myWidthRatio;
00065   ArActionDesired myDesired;
00066 };
00067 
00068 #endif // ARACTIONSPEEDLIMITER_H