60 lines
1.9 KiB
C
60 lines
1.9 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 ARIRS_H
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#define ARIRS_H
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#include "ariaTypedefs.h"
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#include "ArRangeDevice.h"
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/// A class that treats a robot's infrared sensors as a range device.
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/**
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(Only Peoplebot and some Powerbots have IR sensors.)
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@ingroup OptionalClasses
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@ingroup DeviceClasses
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*/
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class ArIRs : public ArRangeDevice
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{
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public:
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AREXPORT ArIRs(size_t currentBufferSize = 10,
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size_t cumulativeBufferSize = 10,
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const char *name = "irs",
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int maxSecondsToKeepCurrent = 15);
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AREXPORT virtual ~ArIRs(void);
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AREXPORT virtual void setRobot(ArRobot *robot);
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AREXPORT void processReadings(void);
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protected:
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ArFunctorC<ArIRs> myProcessCB;
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ArRobotParams myParams;
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std::vector<int> cycleCounters;
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};
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#endif // ARIRS_H
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