/usr/include/Aria/ArActionMovementParameters.h is in libaria-dev 2.8.0+repack-1ubuntu2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 | /*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
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
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARACTIONMOVEMENTPARAMTERS_H
#define ARACTIONMOVEMENTPARAMTERS_H
#include "ariaTypedefs.h"
#include "ArAction.h"
#include "ArMapObject.h"
/// This is a class for setting max velocities and accels and decels via ArConfig parameters (see addToConfig()) or manually (using setParameters())
/**
@ingroup ActionClasses
**/
class ArActionMovementParameters : public ArAction
{
public:
/// Constructor
AREXPORT ArActionMovementParameters(const char *name = "MovementParameters",
bool overrideFaster = true,
bool addLatVelIfAvailable = true);
/// Destructor
AREXPORT virtual ~ArActionMovementParameters();
AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
AREXPORT virtual const ArActionDesired *getDesired(void) const
{ return &myDesired; }
#endif
/// Sees if this action is enabled (separate from activating it)
AREXPORT bool isEnabled(void) { return myEnabled; }
/// Enables this action (separate from activating it)
AREXPORT void enable(void) { myEnabled = true; }
/// Enables this action in a way that'll work from the sector callbacks
AREXPORT void enableOnceFromSector(ArMapObject *mapObject)
{ myEnableOnce = true; }
/// Disables this action (separate from deactivating it)
AREXPORT void disable(void) { myEnabled = false; }
/// Sets the parameters (don't use this if you're using the addToConfig)
AREXPORT void setParameters(double maxVel = 0, double maxNegVel = 0,
double transAccel = 0, double transDecel = 0,
double rotVelMax = 0, double rotAccel = 0,
double rotDecel = 0, double latVelMax = 0,
double latAccel = 0, double latDecel = 0);
/// Adds to the ArConfig given, in section, with prefix
AREXPORT void addToConfig(ArConfig *config, const char *section,
const char *prefix = NULL);
protected:
bool myEnabled;
bool myEnableOnce;
bool myOverrideFaster;
bool myAddLatVelIfAvailable;
double myMaxVel;
double myMaxNegVel;
double myTransAccel;
double myTransDecel;
double myMaxRotVel;
double myRotAccel;
double myRotDecel;
double myMaxLatVel;
double myLatAccel;
double myLatDecel;
ArActionDesired myDesired;
};
#endif // ARACTIONMOVEMENTPARAMTERS_H
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