/usr/include/Aria/ArActionAvoidFront.h is in libaria-dev 2.8.0+repack-1.2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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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 ARACTIONAVOIDFRONT_H
#define ARACTIONAVOIDFRONT_H
#include "ariaTypedefs.h"
#include "ariaUtil.h"
#include "ArFunctor.h"
#include "ArAction.h"
/// This action does obstacle avoidance, controlling both trans and rot
/**
This action uses whatever available range device have been added to
the robot to avoid obstacles. See the ArActionAvoidFront
constructor documentation to see the parameters it takes.
Also note that this action does something most others don't, which
is to check for a specific piece of hardware. This is the
tableSensingIR. If this is set up in the parameters for the robot,
it will use DigIn0 and DigIn1, where the tableSensingIRs are
connected. Note that if you make useTableIRIfAvail false in the
constructor it'll ignore these. Whether the action thinks the robot
has them or not depends on the value of tableSensingIR in the
parameter file for that robot.
@ingroup ActionClasses
*/
class ArActionAvoidFront : public ArAction
{
public:
/// Constructor
AREXPORT ArActionAvoidFront(const char *name = "avoid front obstacles",
double obstacleDistance = 450, double avoidVelocity = 200,
double turnAmount = 15, bool useTableIRIfAvail = true);
/// Destructor
AREXPORT virtual ~ArActionAvoidFront();
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 myTurnAmount;
double myObsDist;
double myAvoidVel;
double myTurnAmountParam;
bool myUseTableIRIfAvail;
int myTurning; // 1 for turning left, 0 for not turning, -1 for turning right
ArActionDesired myDesired;
ArSectors myQuadrants;
ArFunctorC<ArActionAvoidFront> myConnectCB;
};
#endif // ARACTIONAVOIDFRONT_H
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