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 ARFORBIDDENRANGEDEVICE_H 00027 #define ARFORBIDDENRANGEDEVICE_H 00028 00029 #include "ariaTypedefs.h" 00030 #include "ArRangeDevice.h" 00031 #include "ArMap.h" 00032 00034 class ArForbiddenRangeDevice : public ArRangeDevice 00035 { 00036 public: 00038 AREXPORT ArForbiddenRangeDevice(ArMap *armap, double distanceIncrement = 100, 00039 unsigned int maxRange = 4000, 00040 const char *name = "forbidden"); 00042 AREXPORT virtual ~ArForbiddenRangeDevice(); 00044 AREXPORT void processMap(void); 00046 AREXPORT void processReadings(void); 00048 AREXPORT virtual void setRobot(ArRobot *robot); 00049 00051 AREXPORT void enable(void); 00053 AREXPORT void disable(void); 00055 AREXPORT bool isEnabled(void) const { return myIsEnabled;; } 00057 AREXPORT ArFunctor *getEnableCB(void) { return &myEnableCB; } 00059 AREXPORT ArFunctor *getDisableCB(void) { return &myDisableCB; } 00060 protected: 00061 ArMutex myDataMutex; 00062 ArMap *myMap; 00063 double myDistanceIncrement; 00064 std::list<ArLineSegment *> mySegments; 00065 ArFunctorC<ArForbiddenRangeDevice> myProcessCB; 00066 ArFunctorC<ArForbiddenRangeDevice> myMapChangedCB; 00067 bool myIsEnabled; 00068 ArFunctorC<ArForbiddenRangeDevice> myEnableCB; 00069 ArFunctorC<ArForbiddenRangeDevice> myDisableCB; 00070 }; 00071 00072 #endif // ARFORBIDDENRANGEDEVICE_H
1.4.0