/usr/include/Aria/ArRatioInputKeydrive.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 | /*
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 ARRATIOINPUTKEYDRIVE_H
#define ARRATIOINPUTKEYDRIVE_H
#include "ariaTypedefs.h"
#include "ArAction.h"
#include "ArFunctor.h"
#include "ArActionRatioInput.h"
/// This will use the keyboard arrow keys and the ArActionRatioInput to drive the robot
/**
You have to make an ArActionRatioInput and add it to the robot like
a normal action for this to work.
@ingroup OptionalClasses
**/
class ArRatioInputKeydrive
{
public:
/// Constructor
AREXPORT ArRatioInputKeydrive(ArRobot *robot, ArActionRatioInput *input,
int priority = 25, double velIncrement = 5);
/// Destructor
AREXPORT virtual ~ArRatioInputKeydrive();
/// 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 z
AREXPORT void z(void);
/// Internal, callback for x
AREXPORT void x(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);
/// Internal, gets our firecb
AREXPORT ArFunctor *getFireCB(void) { return &myFireCB; }
protected:
AREXPORT void activate(void);
AREXPORT void deactivate(void);
AREXPORT void fireCallback(void);
ArFunctorC<ArRatioInputKeydrive> myUpCB;
ArFunctorC<ArRatioInputKeydrive> myDownCB;
ArFunctorC<ArRatioInputKeydrive> myLeftCB;
ArFunctorC<ArRatioInputKeydrive> myRightCB;
ArFunctorC<ArRatioInputKeydrive> myZCB;
ArFunctorC<ArRatioInputKeydrive> myXCB;
ArFunctorC<ArRatioInputKeydrive> mySpaceCB;
double myPrinting;
double myTransRatio;
double myRotRatio;
double myThrottle;
double myLatRatio;
ArRobot *myRobot;
bool myHaveKeys;
double myVelIncrement;
double myLatVelIncrement;
ArActionRatioInput *myInput;
ArFunctorC<ArRatioInputKeydrive> myFireCB;
ArFunctorC<ArRatioInputKeydrive> myActivateCB;
ArFunctorC<ArRatioInputKeydrive> myDeactivateCB;
};
#endif // ARRATIOINPUTKEYDRIVE_H
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