Aria: ArActionDeceleratingLimiter.h Source File

00001 /*
00002 ActivMedia Robotics Interface for Applications (ARIA)
00003 Copyright (C) 2004,2005 ActivMedia Robotics, LLC
00004 
00005 
00006      This program is free software; you can redistribute it and/or modify
00007      it under the terms of the GNU General Public License as published by
00008      the Free Software Foundation; either version 2 of the License, or
00009      (at your option) any later version.
00010 
00011      This program is distributed in the hope that it will be useful,
00012      but WITHOUT ANY WARRANTY; without even the implied warranty of
00013      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014      GNU General Public License for more details.
00015 
00016      You should have received a copy of the GNU General Public License
00017      along with this program; if not, write to the Free Software
00018      Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019 
00020 If you wish to redistribute ARIA under different terms, contact 
00021 ActivMedia Robotics for information about a commercial version of ARIA at 
00022 robots@activmedia.com or 
00023 ActivMedia Robotics, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
00024 
00025 */
00026 
00027 #ifndef ARACTIONDECELERATINGLIMITER_H
00028 #define ARACTIONDECELERATINGLIMITER_H
00029 
00030 #include "ariaTypedefs.h"
00031 #include "ArAction.h"
00032 
00034 
00046 class ArActionDeceleratingLimiter : public ArAction
00047 {
00048 public:
00050   ArActionDeceleratingLimiter(const char *name = "limitAndDecel", 
00051                                        bool forwards = true);
00053   virtual ~ArActionDeceleratingLimiter();
00054   virtual ArActionDesired *fire(ArActionDesired currentDesired);
00055   virtual ArActionDesired *getDesired(void) { return &myDesired; }
00057   void setParameters(double clearance = 100,
00058                               double sideClearanceAtSlowSpeed = 50,
00059                               double paddingAtSlowSpeed = 50,
00060                               double slowSpeed = 200,
00061                               double sideClearanceAtFastSpeed = 400,
00062                               double paddingAtFastSpeed = 300,
00063                               double fastSpeed = 1000,
00064                               double preferredDecel = 600,
00065                               bool useEStop = false,
00066                               double maxEmergencyDecel = 0);
00068   bool getForwards(void) { return myForwards; }
00070   void setForwards(bool forwards) { myForwards = forwards; }
00072   void addToConfig(ArConfig *config, const char *section,
00073                             const char *prefix = NULL);
00074 protected:
00075   bool myLastStopped;
00076   bool myForwards;
00077   double myClearance;
00078   double mySideClearanceAtSlowSpeed;
00079   double myPaddingAtSlowSpeed;
00080   double mySlowSpeed;
00081   double mySideClearanceAtFastSpeed;
00082   double myPaddingAtFastSpeed;
00083   double myFastSpeed;
00084   double myPreferredDecel;
00085   double myMaxEmergencyDecel;
00086   bool myUseEStop;
00087 //unused?  double myDecelerateDistance;
00088   ArActionDesired myDesired;
00089 };
00090 
00091 #endif // ARACTIONSPEEDLIMITER_H