/*
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 ARACTIONMOVEMENTPARAMTERSDEBUGGING_H
#define ARACTIONMOVEMENTPARAMTERSDEBUGGING_H

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

/// This is a class for setting max velocities and accels and decels via ArConfig parameters (see addToConfig());
/**
   @ingroup ActionClasses
 **/
class ArActionMovementParametersDebugging : public ArAction
{
public: 
  /// Constructor
  AREXPORT ArActionMovementParametersDebugging(const char *name = "MovementParametersDebugging");
  /// Destructor
  AREXPORT virtual ~ArActionMovementParametersDebugging();
  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
  /// Sees if this action is enabled (separate from activating it)
  AREXPORT bool isEnabled(void) { return myEnabled; }
  /// Enables this action (separate from activating it)
  AREXPORT void enable(void) { myEnabled = true; }
  /// Enables this action in a way that'll work from the sector callbacks
  AREXPORT void enableOnceFromSector(ArMapObject *mapObject) 
    { myEnableOnce = true; }
  /// Disables this action (separate from deactivating it)
  AREXPORT void disable(void) { myEnabled = false; }
  /// Adds to the ArConfig given, in section, with prefix
  AREXPORT void addToConfig(ArConfig *config, const char *section,
			    const char *prefix = NULL);
protected:
  bool myEnabled;
  bool myEnableOnce;

  bool mySetMaxVel;
  double myMaxVel;
  bool mySetMaxNegVel;
  double myMaxNegVel;
  bool mySetTransAccel;
  double myTransAccel;
  bool mySetTransDecel;
  double myTransDecel;
  bool mySetMaxRotVel;
  double myMaxRotVel;
  bool mySetRotAccel;
  double myRotAccel;
  bool mySetRotDecel;
  double myRotDecel;
  bool mySetMaxLeftLatVel;
  double myMaxLeftLatVel;
  bool mySetMaxRightLatVel;
  double myMaxRightLatVel;
  bool mySetLatAccel;
  double myLatAccel;
  bool mySetLatDecel;
  double myLatDecel;
  
  ArActionDesired myDesired;


};

#endif // ARACTIONMOVEMENTPARAMTERS_H