55 lines
1.9 KiB
C
55 lines
1.9 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 ARACTIONSTOP_H
|
||
|
|
#define ARACTIONSTOP_H
|
||
|
|
|
||
|
|
#include "ariaTypedefs.h"
|
||
|
|
#include "ArAction.h"
|
||
|
|
|
||
|
|
/// Action for stopping the robot
|
||
|
|
/**
|
||
|
|
This action simply sets the robot to a 0 velocity and a deltaHeading of 0.
|
||
|
|
@ingroup ActionClasses
|
||
|
|
*/
|
||
|
|
class ArActionStop : public ArAction
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
/// Constructor
|
||
|
|
AREXPORT ArActionStop(const char *name = "stop");
|
||
|
|
/// Destructor
|
||
|
|
AREXPORT virtual ~ArActionStop();
|
||
|
|
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
|
||
|
|
protected:
|
||
|
|
ArActionDesired myDesired;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // ARACTIONSTOP_H
|