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 ARBUMPERS_H 00028 #define ARBUMPERS_H 00029 00030 #include "ariaTypedefs.h" 00031 #include "ArRangeDevice.h" 00032 00033 00035 00041 class ArBumpers : public ArRangeDevice 00042 { 00043 public: 00044 ArBumpers(size_t currentBufferSize = 30, 00045 size_t cumulativeBufferSize = 30, 00046 const char *name = "bumpers", 00047 int maxSecondsToKeepCurrent = 15, 00048 double angleRange = 135); 00049 virtual ~ArBumpers(void); 00050 00051 virtual void setRobot(ArRobot *robot); 00052 void processReadings(void); 00053 void addBumpToBuffer(int bumpValue, int whichBumper); 00054 00055 protected: 00056 ArFunctorC<ArBumpers> myProcessCB; 00057 ArRobot *myRobot; 00058 int myBumpMask; 00059 double myAngleRange; 00060 }; 00061 00062 00063 #endif // ARBUMPERS_H
1.4.0