/usr/include/Aria/ArActionDeceleratingLimiter.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.
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 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 | /*
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 ARACTIONDECELERATINGLIMITER_H
#define ARACTIONDECELERATINGLIMITER_H
#include "ariaTypedefs.h"
#include "ArAction.h"
/// Action to limit the forwards motion of the robot based on range sensor readings
/**
This action uses the robot's range sensors (e.g. sonar, laser) to find a
maximum speed at which to travel
and will increase the deceleration so that the robot doesn't hit
anything. If it has to, it will trigger an estop to avoid a
collision.
Note that this cranks up the deceleration with a strong strength,
but it checks to see if there is already something decelerating
more strongly... so you can put these actions lower in the priority list so
things will play together nicely.
@ingroup ActionClasses
**/
class ArActionDeceleratingLimiter : public ArAction
{
public:
enum LimiterType {
FORWARDS, ///< Limit forwards
BACKWARDS, ///< Limit backwards
LATERAL_LEFT, ///< Limit lateral left
LATERAL_RIGHT ///< Limit lateral right
};
/// Constructor
AREXPORT ArActionDeceleratingLimiter(const char *name = "limitAndDecel",
LimiterType type = FORWARDS);
/// Destructor
AREXPORT virtual ~ArActionDeceleratingLimiter();
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
/// Sets the parameters (don't use this if you're using the addToConfig)
AREXPORT void setParameters(double clearance = 100,
double sideClearanceAtSlowSpeed = 50,
double paddingAtSlowSpeed = 50,
double slowSpeed = 200,
double sideClearanceAtFastSpeed = 400,
double paddingAtFastSpeed = 300,
double fastSpeed = 1000,
double preferredDecel = 600,
bool useEStop = false,
double maxEmergencyDecel = 0);
/// Gets if this will control us when going forwards
LimiterType getType(void) { return myType; }
/// Sets if this will control us when going forwards
void setType(LimiterType type) { myType = type; }
/// Adds to the ArConfig given, in section, with prefix
AREXPORT void addToConfig(ArConfig *config, const char *section,
const char *prefix = NULL);
/// Sets if we're using locationDependent range devices or not
bool getUseLocationDependentDevices(void)
{ return myUseLocationDependentDevices; }
/// Sets if we're using locationDependent range devices or not
void setUseLocationDependentDevices(bool useLocationDependentDevices)
{ myUseLocationDependentDevices = useLocationDependentDevices; }
// sets if we should stop rotation too if this action has stopped the robot
void setStopRotationToo(bool stopRotationToo)
{ myStopRotationToo = stopRotationToo; }
protected:
bool myLastStopped;
LimiterType myType;
double myClearance;
double mySideClearanceAtSlowSpeed;
double myPaddingAtSlowSpeed;
double mySlowSpeed;
double mySideClearanceAtFastSpeed;
double myPaddingAtFastSpeed;
double myFastSpeed;
double myPreferredDecel;
double myMaxEmergencyDecel;
bool myUseEStop;
bool myUseLocationDependentDevices;
bool myStopRotationToo;
//unused? double myDecelerateDistance;
ArActionDesired myDesired;
};
#endif // ARACTIONSPEEDLIMITER_H
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