95 lines
3.3 KiB
C
95 lines
3.3 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 ARACTIONMOVEMENTPARAMTERSDEBUGGING_H
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#define ARACTIONMOVEMENTPARAMTERSDEBUGGING_H
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#include "ariaTypedefs.h"
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#include "ArAction.h"
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#include "ArMapObject.h"
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/// This is a class for setting max velocities and accels and decels via ArConfig parameters (see addToConfig());
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/**
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@ingroup ActionClasses
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**/
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class ArActionMovementParametersDebugging : public ArAction
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{
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public:
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/// Constructor
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AREXPORT ArActionMovementParametersDebugging(const char *name = "MovementParametersDebugging");
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/// Destructor
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AREXPORT virtual ~ArActionMovementParametersDebugging();
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AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
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AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
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#ifndef SWIG
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AREXPORT virtual const ArActionDesired *getDesired(void) const
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{ return &myDesired; }
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#endif
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/// Sees if this action is enabled (separate from activating it)
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AREXPORT bool isEnabled(void) { return myEnabled; }
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/// Enables this action (separate from activating it)
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AREXPORT void enable(void) { myEnabled = true; }
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/// Enables this action in a way that'll work from the sector callbacks
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AREXPORT void enableOnceFromSector(ArMapObject *mapObject)
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{ myEnableOnce = true; }
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/// Disables this action (separate from deactivating it)
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AREXPORT void disable(void) { myEnabled = false; }
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/// Adds to the ArConfig given, in section, with prefix
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AREXPORT void addToConfig(ArConfig *config, const char *section,
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const char *prefix = NULL);
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protected:
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bool myEnabled;
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bool myEnableOnce;
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bool mySetMaxVel;
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double myMaxVel;
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bool mySetMaxNegVel;
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double myMaxNegVel;
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bool mySetTransAccel;
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double myTransAccel;
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bool mySetTransDecel;
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double myTransDecel;
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bool mySetMaxRotVel;
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double myMaxRotVel;
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bool mySetRotAccel;
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double myRotAccel;
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bool mySetRotDecel;
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double myRotDecel;
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bool mySetMaxLeftLatVel;
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double myMaxLeftLatVel;
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bool mySetMaxRightLatVel;
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double myMaxRightLatVel;
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bool mySetLatAccel;
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double myLatAccel;
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bool mySetLatDecel;
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double myLatDecel;
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ArActionDesired myDesired;
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};
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#endif // ARACTIONMOVEMENTPARAMTERS_H
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