75 lines
2.9 KiB
C++
75 lines
2.9 KiB
C++
/*
|
|
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 ARFORBIDDENRANGEDEVICE_H
|
|
#define ARFORBIDDENRANGEDEVICE_H
|
|
|
|
#include "ariaTypedefs.h"
|
|
#include "ArRangeDevice.h"
|
|
#include "ArMapInterface.h"
|
|
|
|
/// Class that takes forbidden lines and turns them into range readings
|
|
/// @ingroup OptionalClasses
|
|
class ArForbiddenRangeDevice : public ArRangeDevice
|
|
{
|
|
public:
|
|
/// Constructor
|
|
AREXPORT ArForbiddenRangeDevice(ArMapInterface *armap,
|
|
double distanceIncrement = 100,
|
|
unsigned int maxRange = 4000,
|
|
const char *name = "forbidden");
|
|
/// Destructor
|
|
AREXPORT virtual ~ArForbiddenRangeDevice();
|
|
/// Saves the forbidden lines from the map
|
|
AREXPORT void processMap(void);
|
|
/// Remakes the readings
|
|
AREXPORT void processReadings(void);
|
|
/// Sets the robot pointer and attachs its process function
|
|
AREXPORT virtual void setRobot(ArRobot *robot);
|
|
|
|
/// Enable readings
|
|
AREXPORT void enable(void);
|
|
/// Disables readings until reenabled
|
|
AREXPORT void disable(void);
|
|
/// Sees if this device is active or not
|
|
AREXPORT bool isEnabled(void) const { return myIsEnabled;; }
|
|
/// Gets a callback to enable the device
|
|
AREXPORT ArFunctor *getEnableCB(void) { return &myEnableCB; }
|
|
/// Gets a callback to disable the device
|
|
AREXPORT ArFunctor *getDisableCB(void) { return &myDisableCB; }
|
|
protected:
|
|
ArMutex myDataMutex;
|
|
ArMapInterface *myMap;
|
|
double myDistanceIncrement;
|
|
std::list<ArLineSegment *> mySegments;
|
|
ArFunctorC<ArForbiddenRangeDevice> myProcessCB;
|
|
ArFunctorC<ArForbiddenRangeDevice> myMapChangedCB;
|
|
bool myIsEnabled;
|
|
ArFunctorC<ArForbiddenRangeDevice> myEnableCB;
|
|
ArFunctorC<ArForbiddenRangeDevice> myDisableCB;
|
|
};
|
|
|
|
#endif // ARFORBIDDENRANGEDEVICE_H
|