65 lines
2.1 KiB
C
65 lines
2.1 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARBUMPERS_H
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#define ARBUMPERS_H
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#include "ariaTypedefs.h"
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#include "ArRangeDevice.h"
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/// A class that treats the robot's bumpers as a range device.
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/**
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The class treats bumpers like a range device. When a bumper
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is bumped, it reports the approximate position of the bump
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in a buffer. The positions are kept current for a specified
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length of time.
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@ingroup DeviceClasses
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*/
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class ArBumpers : public ArRangeDevice
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{
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public:
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AREXPORT ArBumpers(size_t currentBufferSize = 30,
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size_t cumulativeBufferSize = 30,
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const char *name = "bumpers",
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int maxSecondsToKeepCurrent = 15,
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double angleRange = 135);
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AREXPORT virtual ~ArBumpers(void);
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AREXPORT virtual void setRobot(ArRobot *robot);
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AREXPORT void processReadings(void);
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AREXPORT void addBumpToBuffer(int bumpValue, int whichBumper);
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protected:
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ArFunctorC<ArBumpers> myProcessCB;
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ArRobot *myRobot;
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int myBumpMask;
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double myAngleRange;
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};
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#endif // ARBUMPERS_H
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