/usr/include/Aria/ArActionKeydrive.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 | /*
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 ARACTIONKEYDRIVE_H
#define ARACTIONKEYDRIVE_H
#include "ariaTypedefs.h"
#include "ArAction.h"
#include "ArFunctor.h"
class ArRobot;
/// This action will use the keyboard arrow keys for input to drive the robot
/// @ingroup ActionClasses
class ArActionKeydrive : public ArAction
{
public:
/// Constructor
AREXPORT ArActionKeydrive(const char *name = "keydrive",
double transVelMax = 400,
double turnAmountMax = 24,
double velIncrement = 25,
double turnIncrement = 8);
/// Destructor
AREXPORT virtual ~ArActionKeydrive();
AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
/// For setting the maximum speeds
AREXPORT void setSpeeds(double transVelMax, double turnAmountMax);
/// For setting the increment amounts
AREXPORT void setIncrements(double velIncrement, double turnIncrement);
AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
AREXPORT virtual const ArActionDesired *getDesired(void) const
{ return &myDesired; }
#endif
AREXPORT virtual void setRobot(ArRobot *robot);
AREXPORT virtual void activate(void);
AREXPORT virtual void deactivate(void);
/// Takes the keys this action wants to use to drive
AREXPORT void takeKeys(void);
/// Gives up the keys this action wants to use to drive
AREXPORT void giveUpKeys(void);
/// Internal, callback for up arrow
AREXPORT void up(void);
/// Internal, callback for down arrow
AREXPORT void down(void);
/// Internal, callback for left arrow
AREXPORT void left(void);
/// Internal, callback for right arrow
AREXPORT void right(void);
/// Internal, callback for space key
AREXPORT void space(void);
protected:
ArFunctorC<ArActionKeydrive> myUpCB;
ArFunctorC<ArActionKeydrive> myDownCB;
ArFunctorC<ArActionKeydrive> myLeftCB;
ArFunctorC<ArActionKeydrive> myRightCB;
ArFunctorC<ArActionKeydrive> mySpaceCB;
// action desired
ArActionDesired myDesired;
// full speed
double myTransVelMax;
// full amount to turn
double myTurnAmountMax;
// amount to increment vel by on an up arrow or decrement on a down arrow
double myVelIncrement;
// amount to increment turn by on a left arrow or right arrow
double myTurnIncrement;
// amount we want to speed up
double myDeltaVel;
// amount we want to turn
double myTurnAmount;
// what speed we want to go
double myDesiredSpeed;
// if our speeds been reset
bool mySpeedReset;
};
#endif // ARACTIONKEYDRIVE_H
|