ArActionGroups.h

/*
ActivMedia Robotics Interface for Applications (ARIA)
Copyright (C) 2004,2005 ActivMedia Robotics, LLC


     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 
ActivMedia Robotics for information about a commercial version of ARIA at 
robots@activmedia.com or 
ActivMedia Robotics, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481

*/

#ifndef ARACTIONGROUPS_H
#define ARACTIONGROUPS_H

#include "ariaTypedefs.h"
#include "ArActionGroup.h"
#include "ArActionColorFollow.h"
#include "ArACTS.h"
#include "ArPTZ.h"

class ArActionInput;
class ArActionJoydrive;
class ArActionDeceleratingLimiter;
class ArActionRatioInput;
class ArRatioInputKeydrive;
class ArRatioInputJoydrive;
class ArRatioInputRobotJoydrive;


class ArActionGroupInput : public ArActionGroup
{
public:
  ArActionGroupInput(ArRobot *robot);
  virtual ~ArActionGroupInput();
  void setVel(double vel);
  void setRotVel(double rotVel);
  void setHeading(double heading);
  void deltaHeadingFromCurrent(double delta);
  void clear(void);
  ArActionInput *getActionInput(void);
protected:
  ArActionInput *myInput;
};


class ArActionGroupStop : public ArActionGroup
{
public:
  ArActionGroupStop(ArRobot *robot);
  virtual ~ArActionGroupStop();
};


class ArActionGroupTeleop : public ArActionGroup
{
public:
  ArActionGroupTeleop(ArRobot *robot);
  virtual ~ArActionGroupTeleop();
  void setThrottleParams(int lowSpeed, int highSpeed);
protected:
  ArActionJoydrive *myJoydrive;
};


class ArActionGroupUnguardedTeleop : public ArActionGroup
{
public:
  ArActionGroupUnguardedTeleop(ArRobot *robot);
  virtual ~ArActionGroupUnguardedTeleop();
  void setThrottleParams(int lowSpeed, int highSpeed);
protected:
  ArActionJoydrive *myJoydrive;
};


class ArActionGroupWander : public ArActionGroup
{
public:
  ArActionGroupWander(ArRobot *robot, int forwardVel = 400, int avoidFrontDist = 450, int avoidVel = 200, int avoidTurnAmt = 15);
  virtual ~ArActionGroupWander();
};


class ArActionGroupColorFollow : public ArActionGroup
{
public:
  ArActionGroupColorFollow(ArRobot *robot, ArACTS_1_2 *acts, ArPTZ *camera);
  virtual ~ArActionGroupColorFollow();
  void setCamera(ArPTZ *camera);
  void setChannel(int channel);
  void startMovement();
  void stopMovement();
  void setAcquire(bool acquire);
  int getChannel();
  bool getAcquire();
  bool getMovement();
  bool getBlob();
protected:
  ArActionColorFollow *myColorFollow;
};


class ArActionGroupRatioDrive : public ArActionGroup
{
public:
  ArActionGroupRatioDrive(ArRobot *robot);
  virtual ~ArActionGroupRatioDrive();
  ArActionRatioInput *getActionRatioInput(void);
  void addToConfig(ArConfig *config, const char *section);
protected:
  ArActionDeceleratingLimiter *myDeceleratingLimiterForward;
  ArActionDeceleratingLimiter *myDeceleratingLimiterBackward;
  ArActionRatioInput *myInput;
  ArRatioInputKeydrive *myKeydrive;
  ArRatioInputJoydrive *myJoydrive;
  ArRatioInputRobotJoydrive *myRobotJoydrive;

};



class ArActionGroupRatioDriveUnsafe : public ArActionGroup
{
public:
  ArActionGroupRatioDriveUnsafe(ArRobot *robot);
  virtual ~ArActionGroupRatioDriveUnsafe();
  ArActionRatioInput *getActionRatioInput(void);
  void addToConfig(ArConfig *config, const char *section);
protected:
  ArActionRatioInput *myInput;
  ArRatioInputKeydrive *myKeydrive;
  ArRatioInputJoydrive *myJoydrive;
  ArRatioInputRobotJoydrive *myRobotJoydrive;

};

#endif // ARACTIONGROUPS_H

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