/*
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 ARACTIONLIMITERTABLESNSOR_H
#define ARACTIONLIMITERTABLESNSOR_H

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

/// Action to limit speed (and stop) based on whether the "table"-sensors see anything
/**
   This action limits speed to 0 if the table-sensors see anything in front
   of the robot.  The action will only work if the robot has table sensors,
   meaning that the robots parameter file has them listed as true.

   @ingroup ActionClasses
*/
class ArActionLimiterTableSensor : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionLimiterTableSensor(const char *name = "TableSensorLimiter");
  /// Destructor
  AREXPORT virtual ~ArActionLimiterTableSensor();
  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 // ARACTIONLIMITERTABLESNSOR_H