93 lines
3.5 KiB
C
93 lines
3.5 KiB
C
|
/*
|
||
|
|
Adept MobileRobots Robotics Interface for Applications (ARIA)
|
||
|
|
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
|
||
|
|
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
|
||
|
|
Copyright (C) 2011, 2012, 2013 Adept Technology
|
||
|
|
|
||
|
|
This program is free software; you can redistribute it and/or modify
|
||
|
|
it under the terms of the GNU General Public License as published by
|
||
|
|
the Free Software Foundation; either version 2 of the License, or
|
||
|
|
(at your option) any later version.
|
||
|
|
|
||
|
|
This program is distributed in the hope that it will be useful,
|
||
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
GNU General Public License for more details.
|
||
|
|
|
||
|
|
You should have received a copy of the GNU General Public License
|
||
|
|
along with this program; if not, write to the Free Software
|
||
|
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||
|
|
|
||
|
|
If you wish to redistribute ARIA under different terms, contact
|
||
|
|
Adept MobileRobots for information about a commercial version of ARIA at
|
||
|
|
robots@mobilerobots.com or
|
||
|
|
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
|
||
|
|
*/
|
||
|
|
#ifndef ARACTIONMOVEMENTPARAMTERS_H
|
||
|
|
#define ARACTIONMOVEMENTPARAMTERS_H
|
||
|
|
|
||
|
|
#include "ariaTypedefs.h"
|
||
|
|
#include "ArAction.h"
|
||
|
|
#include "ArMapObject.h"
|
||
|
|
|
||
|
|
/// This is a class for setting max velocities and accels and decels via ArConfig parameters (see addToConfig()) or manually (using setParameters())
|
||
|
|
/**
|
||
|
|
@ingroup ActionClasses
|
||
|
|
**/
|
||
|
|
class ArActionMovementParameters : public ArAction
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
/// Constructor
|
||
|
|
AREXPORT ArActionMovementParameters(const char *name = "MovementParameters",
|
||
|
|
bool overrideFaster = true,
|
||
|
|
bool addLatVelIfAvailable = true);
|
||
|
|
/// Destructor
|
||
|
|
AREXPORT virtual ~ArActionMovementParameters();
|
||
|
|
AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
|
||
|
|
AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
|
||
|
|
#ifndef SWIG
|
||
|
|
AREXPORT virtual const ArActionDesired *getDesired(void) const
|
||
|
|
{ return &myDesired; }
|
||
|
|
#endif
|
||
|
|
/// Sees if this action is enabled (separate from activating it)
|
||
|
|
AREXPORT bool isEnabled(void) { return myEnabled; }
|
||
|
|
/// Enables this action (separate from activating it)
|
||
|
|
AREXPORT void enable(void) { myEnabled = true; }
|
||
|
|
/// Enables this action in a way that'll work from the sector callbacks
|
||
|
|
AREXPORT void enableOnceFromSector(ArMapObject *mapObject)
|
||
|
|
{ myEnableOnce = true; }
|
||
|
|
/// Disables this action (separate from deactivating it)
|
||
|
|
AREXPORT void disable(void) { myEnabled = false; }
|
||
|
|
/// Sets the parameters (don't use this if you're using the addToConfig)
|
||
|
|
AREXPORT void setParameters(double maxVel = 0, double maxNegVel = 0,
|
||
|
|
double transAccel = 0, double transDecel = 0,
|
||
|
|
double rotVelMax = 0, double rotAccel = 0,
|
||
|
|
double rotDecel = 0, double latVelMax = 0,
|
||
|
|
double latAccel = 0, double latDecel = 0);
|
||
|
|
/// Adds to the ArConfig given, in section, with prefix
|
||
|
|
AREXPORT void addToConfig(ArConfig *config, const char *section,
|
||
|
|
const char *prefix = NULL);
|
||
|
|
protected:
|
||
|
|
bool myEnabled;
|
||
|
|
bool myEnableOnce;
|
||
|
|
bool myOverrideFaster;
|
||
|
|
bool myAddLatVelIfAvailable;
|
||
|
|
|
||
|
|
double myMaxVel;
|
||
|
|
double myMaxNegVel;
|
||
|
|
double myTransAccel;
|
||
|
|
double myTransDecel;
|
||
|
|
double myMaxRotVel;
|
||
|
|
double myRotAccel;
|
||
|
|
double myRotDecel;
|
||
|
|
double myMaxLatVel;
|
||
|
|
double myLatAccel;
|
||
|
|
double myLatDecel;
|
||
|
|
|
||
|
|
ArActionDesired myDesired;
|
||
|
|
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // ARACTIONMOVEMENTPARAMTERS_H
|