/usr/include/Aria/ArActionStallRecover.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 | /*
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 ARACTIONSTALLRECOVER_H
#define ARACTIONSTALLRECOVER_H
#include "ariaTypedefs.h"
#include "ArAction.h"
class ArResolver;
/// Action to recover from a stall
/**
This action tries to recover if one of the wheels has stalled, it has a
series of actions it tries in order to get out of the stall.
@ingroup ActionClasses
*/
class ArActionStallRecover : public ArAction
{
public:
/// Constructor
AREXPORT ArActionStallRecover(const char * name = "stall recover",
double obstacleDistance = 225, int cyclesToMove = 50,
double speed = 150, double degreesToTurn = 45,
bool enabled = true);
/// Destructor
AREXPORT virtual ~ArActionStallRecover();
AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
AREXPORT virtual ArActionDesired *getDesired(void)
{ return &myActionDesired; }
#ifndef SWIG
AREXPORT virtual const ArActionDesired *getDesired(void) const
{ return &myActionDesired; }
#endif
AREXPORT void addToConfig(ArConfig* config, const char* sectionName, ArPriority::Priority priority = ArPriority::NORMAL);
AREXPORT virtual void activate(void);
protected:
// these are internal things, don't touch unless you know what you are doing
void doit(void); // does whatever should be done
void addSequence(int sequence);
int myDoing; // what we're doing, uses the stuff from the enum What
int myState; // holds the state
int myCount; // count down variable, -1 if first time in this state
int mySideStalled; // 1 for left, 2 for right, 3 for both
enum State
{
STATE_NOTHING = 0, // waiting
STATE_GOING // do something
};
enum What
{
BACK=0x1, // back up
FORWARD=0x2, // go forward
TURN=0x4, // turn away from obstacles
TURN_LEFT=0x8, // turn left
TURN_RIGHT=0x10, // turn right
MOVEMASK = BACK | FORWARD,
TURNMASK = TURN | TURN_LEFT | TURN_RIGHT
};
std::map<int, int> mySequence; // list of things to do as stall continues
int mySequenceNum;
int mySequencePos;
time_t myLastFired;
double myObstacleDistance;
int myCyclesToMove;
bool myEnabled;
double mySpeed;
int myCyclesToTurn;
double myDegreesToTurn;
double myDesiredHeading;
ArActionDesired myActionDesired;
ArResolver *myResolver;
};
#endif //ARACTIONSTALLRECOVER_H
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