Aria: ArActionMovementParameters.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 ARACTIONMOVEMENTPARAMTERS_H
00028 #define ARACTIONMOVEMENTPARAMTERS_H
00029 
00030 #include "ariaTypedefs.h"
00031 #include "ArAction.h"
00032 
00033 
00035 
00038 class ArActionMovementParameters : public ArAction
00039 {
00040 public: 
00042   ArActionMovementParameters(const char *name = "MovementParameters");
00044   virtual ~ArActionMovementParameters();
00045   virtual ArActionDesired *fire(ArActionDesired currentDesired);
00046   virtual ArActionDesired *getDesired(void) { return &myDesired; }
00048   void setParameters(double maxVel = 0, double maxNegVel = 0,
00049                               double transAccel = 0, double transDecel = 0,
00050                               double rotVelMax = 0, double rotAccel = 0,
00051                               double rotDecel = 0);
00053   void addToConfig(ArConfig *config, const char *section,
00054                             const char *prefix = NULL);
00055 protected:
00056   double myMaxVel;
00057   double myMaxNegVel;
00058   double myTransAccel;
00059   double myTransDecel;
00060   double myMaxRotVel;
00061   double myRotAccel;
00062   double myRotDecel;
00063   
00064   ArActionDesired myDesired;
00065 
00066 
00067 };
00068 
00069 #endif // ARACTIONMOVEMENTPARAMTERS_H