ArForbiddenRangeDevice.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 ARFORBIDDENRANGEDEVICE_H
#define ARFORBIDDENRANGEDEVICE_H

#include "ariaTypedefs.h"
#include "ArRangeDevice.h"
#include "ArMap.h"

class ArForbiddenRangeDevice : public ArRangeDevice
{
public:
  ArForbiddenRangeDevice(ArMap *armap, double distanceIncrement = 100,
                                  unsigned int maxRange = 4000,
                                  const char *name = "forbidden");
  virtual ~ArForbiddenRangeDevice();
  void processMap(void);
  void processReadings(void);
  virtual void setRobot(ArRobot *robot);

  void enable(void);
  void disable(void);
  bool isEnabled(void) const { return myIsEnabled;; }
  ArFunctor *getEnableCB(void) { return &myEnableCB; } 
  ArFunctor *getDisableCB(void) { return &myDisableCB; } 
protected:
  ArMutex myDataMutex;
  ArMap *myMap;
  double myDistanceIncrement;
  std::list<ArLineSegment *> mySegments;
  ArFunctorC<ArForbiddenRangeDevice> myProcessCB;
  ArFunctorC<ArForbiddenRangeDevice> myMapChangedCB;
  bool myIsEnabled;
  ArFunctorC<ArForbiddenRangeDevice> myEnableCB;
  ArFunctorC<ArForbiddenRangeDevice> myDisableCB;
};

#endif // ARFORBIDDENRANGEDEVICE_H

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