/*
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 ARACTIONMOVEMENTPARAMTERS_H
#define ARACTIONMOVEMENTPARAMTERS_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()) or manually (using setParameters())
/**
   @ingroup ActionClasses
 **/
class ArActionMovementParameters : public ArAction
{
public: 
  /// Constructor
  AREXPORT ArActionMovementParameters(const char *name = "MovementParameters",
				      bool overrideFaster = true, 
				      bool addLatVelIfAvailable = true);
  /// Destructor
  AREXPORT virtual ~ArActionMovementParameters();
  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; }
  /// Sets the parameters (don't use this if you're using the addToConfig)
  AREXPORT void setParameters(double maxVel = 0, double maxNegVel = 0,
			      double transAccel = 0, double transDecel = 0,
			      double rotVelMax = 0, double rotAccel = 0,
			      double rotDecel = 0, double latVelMax = 0, 
			      double latAccel = 0, double latDecel = 0);
  /// 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 myOverrideFaster;
  bool myAddLatVelIfAvailable;

  double myMaxVel;
  double myMaxNegVel;
  double myTransAccel;
  double myTransDecel;
  double myMaxRotVel;
  double myRotAccel;
  double myRotDecel;
  double myMaxLatVel;
  double myLatAccel;
  double myLatDecel;
  
  ArActionDesired myDesired;


};

#endif // ARACTIONMOVEMENTPARAMTERS_H