Aria: ArActionLimiterForwards.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 ARACTIONSPEEDLIMITER_H
00028 #define ARACTIONSPEEDLIMITER_H
00029 
00030 #include "ariaTypedefs.h"
00031 #include "ArAction.h"
00032 
00034 
00039 class ArActionLimiterForwards : public ArAction
00040 {
00041 public:
00043   ArActionLimiterForwards(const char *name = "speed limiter", 
00044                                    double stopDistance = 250,
00045                                    double slowDistance = 1000,
00046                                    double slowSpeed = 200,
00047                                    double widthRatio = 1);
00049   virtual ~ArActionLimiterForwards();
00050   virtual ArActionDesired *fire(ArActionDesired currentDesired);
00051   virtual ArActionDesired *getDesired(void) { return &myDesired; }
00052   void setParameters(double stopDistance = 250,
00053                               double slowDistance = 1000,
00054                               double slowSpeed = 200,
00055                               double widthRatio = 1);
00056 protected:
00057   bool myLastStopped;
00058   double myStopDist;
00059   double mySlowDist;
00060   double mySlowSpeed;
00061   double myWidthRatio;
00062   ArActionDesired myDesired;
00063 };
00064 
00065 #endif // ARACTIONSPEEDLIMITER_H