/*
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 ARACTIONSPEEDLIMITER_H
#define ARACTIONSPEEDLIMITER_H

#include "ariaTypedefs.h"
#include "ArAction.h"

/// Action to limit the forwards motion of the robot based on range sensor readings.
/**
   This action uses the sensors to find a maximum forwared speed to travel at; when the range
   sensor (e.g. sonar or laser) detects obstacles closer than the given parameters,
   this action requests that the robot decelerate or stop.
   @ingroup ActionClasses
*/
class ArActionLimiterForwards : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionLimiterForwards(const char *name = "speed limiter", 
				   double stopDistance = 250,
				   double slowDistance = 1000,
				   double slowSpeed = 200,
				   double widthRatio = 1);
  /// Destructor
  AREXPORT virtual ~ArActionLimiterForwards();
  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
  AREXPORT void setParameters(double stopDistance = 250,
			      double slowDistance = 1000,
			      double slowSpeed = 200,
			      double widthRatio = 1);
protected:
  bool myLastStopped;
  double myStopDist;
  double mySlowDist;
  double mySlowSpeed;
  double myWidthRatio;
  ArActionDesired myDesired;
};

#endif // ARACTIONSPEEDLIMITER_H