75 lines
2.9 KiB
C
75 lines
2.9 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 ARFORBIDDENRANGEDEVICE_H
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#define ARFORBIDDENRANGEDEVICE_H
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#include "ariaTypedefs.h"
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#include "ArRangeDevice.h"
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#include "ArMapInterface.h"
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/// Class that takes forbidden lines and turns them into range readings
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/// @ingroup OptionalClasses
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class ArForbiddenRangeDevice : public ArRangeDevice
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{
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public:
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/// Constructor
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AREXPORT ArForbiddenRangeDevice(ArMapInterface *armap,
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double distanceIncrement = 100,
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unsigned int maxRange = 4000,
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const char *name = "forbidden");
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/// Destructor
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AREXPORT virtual ~ArForbiddenRangeDevice();
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/// Saves the forbidden lines from the map
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AREXPORT void processMap(void);
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/// Remakes the readings
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AREXPORT void processReadings(void);
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/// Sets the robot pointer and attachs its process function
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AREXPORT virtual void setRobot(ArRobot *robot);
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/// Enable readings
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AREXPORT void enable(void);
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/// Disables readings until reenabled
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AREXPORT void disable(void);
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/// Sees if this device is active or not
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AREXPORT bool isEnabled(void) const { return myIsEnabled;; }
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/// Gets a callback to enable the device
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AREXPORT ArFunctor *getEnableCB(void) { return &myEnableCB; }
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/// Gets a callback to disable the device
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AREXPORT ArFunctor *getDisableCB(void) { return &myDisableCB; }
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protected:
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ArMutex myDataMutex;
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ArMapInterface *myMap;
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double myDistanceIncrement;
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std::list<ArLineSegment *> mySegments;
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ArFunctorC<ArForbiddenRangeDevice> myProcessCB;
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ArFunctorC<ArForbiddenRangeDevice> myMapChangedCB;
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bool myIsEnabled;
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ArFunctorC<ArForbiddenRangeDevice> myEnableCB;
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ArFunctorC<ArForbiddenRangeDevice> myDisableCB;
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};
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#endif // ARFORBIDDENRANGEDEVICE_H
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