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ArActionAvoidSide.h

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 ARACTIONAVOIDSIDE_H
00027 #define ARACTIONAVOIDSIDE_H
00028 
00029 #include "ariaTypedefs.h"
00030 #include "ArAction.h"
00031 
00033 
00037 class ArActionAvoidSide : public ArAction
00038 {
00039 public:
00041   AREXPORT ArActionAvoidSide(const char *name = "Avoid side", 
00042             double obstacleDistance = 300,
00043             double turnAmount = 5);
00045   AREXPORT virtual ~ArActionAvoidSide();
00046   AREXPORT virtual ArActionDesired * fire(ArActionDesired currentDesired);
00047   AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
00048 #ifndef SWIG
00049   AREXPORT virtual const ArActionDesired *getDesired(void) const 
00050                                                         { return &myDesired; }
00051 #endif
00052 protected:
00053   double myObsDist;
00054   double myTurnAmount;
00055   bool myTurning;
00056   ArActionDesired myDesired;
00057 
00058 };
00059 
00060 #endif // ARACTIONAVOIDSIDE_H

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