00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026 #ifndef ARACTIONINPUT_H
00027 #define ARACTIONINPUT_H
00028
00029 #include "ariaTypedefs.h"
00030 #include "ArAction.h"
00031
00033
00036 class ArActionInput : public ArAction
00037 {
00038 public:
00040 AREXPORT ArActionInput(const char *name = "Input");
00042 AREXPORT virtual ~ArActionInput();
00044 AREXPORT void setVel(double vel);
00046 AREXPORT void deltaHeadingFromCurrent(double delta);
00048 AREXPORT void setRotVel(double rotVel);
00050 AREXPORT void setHeading(double heading);
00052 AREXPORT void clear(void);
00053 AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
00054 AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
00055 #ifndef SWIG
00056 AREXPORT virtual const ArActionDesired *getDesired(void) const
00057 { return &myDesired; }
00058 #endif
00059 protected:
00060 enum RotRegime { NONE, ROTVEL, DELTAHEADING, SETHEADING };
00061 RotRegime myRotRegime;
00062 double myRotVal;
00063 bool myUsingVel;
00064 double myVelSet;
00065 ArActionDesired myDesired;
00066 };
00067
00068 #endif // ARACTIONSTOP_H