/usr/include/Aria/ArActionMovementParametersDebugging.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 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 93 94 | /*
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 ARACTIONMOVEMENTPARAMTERSDEBUGGING_H
#define ARACTIONMOVEMENTPARAMTERSDEBUGGING_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());
/**
@ingroup ActionClasses
**/
class ArActionMovementParametersDebugging : public ArAction
{
public:
/// Constructor
AREXPORT ArActionMovementParametersDebugging(const char *name = "MovementParametersDebugging");
/// Destructor
AREXPORT virtual ~ArActionMovementParametersDebugging();
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; }
/// 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 mySetMaxVel;
double myMaxVel;
bool mySetMaxNegVel;
double myMaxNegVel;
bool mySetTransAccel;
double myTransAccel;
bool mySetTransDecel;
double myTransDecel;
bool mySetMaxRotVel;
double myMaxRotVel;
bool mySetRotAccel;
double myRotAccel;
bool mySetRotDecel;
double myRotDecel;
bool mySetMaxLeftLatVel;
double myMaxLeftLatVel;
bool mySetMaxRightLatVel;
double myMaxRightLatVel;
bool mySetLatAccel;
double myLatAccel;
bool mySetLatDecel;
double myLatDecel;
ArActionDesired myDesired;
};
#endif // ARACTIONMOVEMENTPARAMTERS_H
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