/usr/include/Aria/ArForbiddenRangeDevice.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 | /*
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 ARFORBIDDENRANGEDEVICE_H
#define ARFORBIDDENRANGEDEVICE_H
#include "ariaTypedefs.h"
#include "ArRangeDevice.h"
#include "ArMapInterface.h"
/// Class that takes forbidden lines and turns them into range readings
/// @ingroup OptionalClasses
class ArForbiddenRangeDevice : public ArRangeDevice
{
public:
/// Constructor
AREXPORT ArForbiddenRangeDevice(ArMapInterface *armap,
double distanceIncrement = 100,
unsigned int maxRange = 4000,
const char *name = "forbidden");
/// Destructor
AREXPORT virtual ~ArForbiddenRangeDevice();
/// Saves the forbidden lines from the map
AREXPORT void processMap(void);
/// Remakes the readings
AREXPORT void processReadings(void);
/// Sets the robot pointer and attachs its process function
AREXPORT virtual void setRobot(ArRobot *robot);
/// Enable readings
AREXPORT void enable(void);
/// Disables readings until reenabled
AREXPORT void disable(void);
/// Sees if this device is active or not
AREXPORT bool isEnabled(void) const { return myIsEnabled;; }
/// Gets a callback to enable the device
AREXPORT ArFunctor *getEnableCB(void) { return &myEnableCB; }
/// Gets a callback to disable the device
AREXPORT ArFunctor *getDisableCB(void) { return &myDisableCB; }
protected:
ArMutex myDataMutex;
ArMapInterface *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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