/usr/include/Aria/ArActionTurn.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 | /*
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 ARACTIONTURN
#define ARACTIONTURN
#include "ariaTypedefs.h"
#include "ArAction.h"
/// Action to turn when the behaviors with more priority have limited the speed
/**
This action is basically made so that you can just have a ton of
limiters of different kinds and types to keep speed under control,
then throw this into the mix to have the robot wander. Note that
the turn amount ramps up to turnAmount starting at 0 at
speedStartTurn and hitting the full amount at speedFullTurn.
@ingroup ActionClasses
**/
class ArActionTurn : public ArAction
{
public:
/// Constructor
AREXPORT ArActionTurn(const char *name = "turn",
double speedStartTurn = 200,
double speedFullTurn = 100,
double turnAmount = 15);
/// Destructor
AREXPORT virtual ~ArActionTurn();
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 mySpeedStart;
double mySpeedFull;
double myTurnAmount;
double myTurning;
ArActionDesired myDesired;
};
#endif // ARACTIONTURN
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