/usr/include/Aria/ArActionInput.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 | /*
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 ARACTIONINPUT_H
#define ARACTIONINPUT_H
#include "ariaTypedefs.h"
#include "ArAction.h"
/// Action for taking input from outside to control the robot
/**
This action sets up how we want to drive
@ingroup ActionClasses
*/
class ArActionInput : public ArAction
{
public:
/// Constructor
AREXPORT ArActionInput(const char *name = "Input");
/// Destructor
AREXPORT virtual ~ArActionInput();
/// Set velocity (cancels deltaVel)
AREXPORT void setVel(double vel);
/// Increment/decrement the heading from current
AREXPORT void deltaHeadingFromCurrent(double delta);
/// Sets a rotational velocity
AREXPORT void setRotVel(double rotVel);
/// Sets a heading
AREXPORT void setHeading(double heading);
/// Clears it so its not using vel or heading
AREXPORT void clear(void);
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:
enum RotRegime { NONE, ROTVEL, DELTAHEADING, SETHEADING };
RotRegime myRotRegime;
double myRotVal;
bool myUsingVel;
double myVelSet;
ArActionDesired myDesired;
};
#endif // ARACTIONSTOP_H
|