76 lines
2.3 KiB
C
76 lines
2.3 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 ARROBOTCONFIG_H
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#define ARROBOTCONFIG_H
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#include "ArFunctor.h"
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class ArRobot;
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class ArAnalogGyro;
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/// Class for controlling robot movement parameters from config
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class ArRobotConfig
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{
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public:
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/// Constructor
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AREXPORT ArRobotConfig(ArRobot *robot);
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/// Destructor
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AREXPORT virtual ~ArRobotConfig();
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/// Adds a gyro to turn on and off
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AREXPORT void addAnalogGyro(ArAnalogGyro *gyro);
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/// Called when we process the config
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AREXPORT bool processFile(void);
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/// Called when we connect to the robot
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AREXPORT void connectCallback(void);
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protected:
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ArRobot *myRobot;
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ArAnalogGyro *myAnalogGyro;
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bool mySavedOriginalMovementParameters;
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int myOriginalTransVelMax;
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int myOriginalTransAccel;
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int myOriginalTransDecel;
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int myOriginalRotVelMax;
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int myOriginalRotAccel;
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int myOriginalRotDecel;
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bool myAddedMovementParams;
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int myTransVelMax;
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int myTransAccel;
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int myTransDecel;
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int myRotVelMax;
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int myRotAccel;
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int myRotDecel;
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bool myAddedGyro;
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bool myUseGyro;
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ArFunctorC<ArRobotConfig> myConnectCB;
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ArRetFunctorC<bool, ArRobotConfig> myProcessFileCB;
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};
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#endif
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