69 lines
2.7 KiB
C
69 lines
2.7 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 ARACTIONBACKWARDSSPEEDLIMITER_H
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#define ARACTIONBACKWARDSSPEEDLIMITER_H
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#include "ariaTypedefs.h"
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#include "ArAction.h"
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/// Action to limit the backwards motion of the robot based on range sensor readings
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/**
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This class limits the backwards motion of the robot according to range sensor
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readings (e.g. sonar, laser), and the parameters given. When the range
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sensor (e.g. sonar or laser) detects rearward obstacles closer than the given parameters,
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this action requests that the robot decelerate or stop any current backwards movement.
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@ingroup ActionClasses
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*/
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class ArActionLimiterBackwards : public ArAction
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{
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public:
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/// Constructor
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AREXPORT ArActionLimiterBackwards(const char *name = "speed limiter",
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double stopDistance = -250,
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double slowDistance = -600,
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double maxBackwardsSpeed = -250,
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double widthRatio = 1.5,
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bool avoidLocationDependentObstacles = true);
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/// Destructor
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AREXPORT virtual ~ArActionLimiterBackwards();
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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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protected:
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double myStopDist;
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double mySlowDist;
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double myMaxBackwardsSpeed;
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double myWidthRatio;
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bool myAvoidLocationDependentObstacles;
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ArActionDesired myDesired;
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};
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#endif // ARACTIONBACKWARDSSPEEDLIMITER_H
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