/usr/include/Aria/ArActionLimiterBackwards.h is in libaria-dev 2.8.0+repack-1.
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 | /*
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 ARACTIONBACKWARDSSPEEDLIMITER_H
#define ARACTIONBACKWARDSSPEEDLIMITER_H
#include "ariaTypedefs.h"
#include "ArAction.h"
/// Action to limit the backwards motion of the robot based on range sensor readings
/**
This class limits the backwards motion of the robot according to range sensor
readings (e.g. sonar, laser), and the parameters given. When the range
sensor (e.g. sonar or laser) detects rearward obstacles closer than the given parameters,
this action requests that the robot decelerate or stop any current backwards movement.
@ingroup ActionClasses
*/
class ArActionLimiterBackwards : public ArAction
{
public:
/// Constructor
AREXPORT ArActionLimiterBackwards(const char *name = "speed limiter",
double stopDistance = -250,
double slowDistance = -600,
double maxBackwardsSpeed = -250,
double widthRatio = 1.5,
bool avoidLocationDependentObstacles = true);
/// Destructor
AREXPORT virtual ~ArActionLimiterBackwards();
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
protected:
double myStopDist;
double mySlowDist;
double myMaxBackwardsSpeed;
double myWidthRatio;
bool myAvoidLocationDependentObstacles;
ArActionDesired myDesired;
};
#endif // ARACTIONBACKWARDSSPEEDLIMITER_H
|