/usr/include/Aria/ArActionBumpers.h is in libaria-dev 2.8.0+repack-1.2ubuntu1.
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 | /*
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 ARACTIONBUMPERS_H
#define ARACTIONBUMPERS_H
#include "ariaTypedefs.h"
#include "ArAction.h"
/// Action to deal with if the bumpers trigger
/**
This class basically responds to the bumpers the robot has, what
the activity things the robot has is decided by the param file. If
the robot is going forwards and bumps into something with the front
bumpers, it will back up and turn. If the robot is going backwards
and bumps into something with the rear bumpers then the robot will
move forward and turn.
@ingroup ActionClasses
*/
class ArActionBumpers : public ArAction
{
public:
/// Constructor
AREXPORT ArActionBumpers(const char *name = "bumpers",
double backOffSpeed = 100, int backOffTime = 3000,
int turnTime = 3000, bool setMaximums = false);
/// Destructor
AREXPORT virtual ~ArActionBumpers();
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
AREXPORT double findDegreesToTurn(int bumpValue, int whichBumper);
AREXPORT virtual void activate(void);
protected:
ArActionDesired myDesired;
bool mySetMaximums;
double myBackOffSpeed;
int myBackOffTime;
int myTurnTime;
//int myStopTime;
bool myFiring;
double mySpeed;
double myHeading;
int myBumpMask;
ArTime myStartBack;
//ArTime myStoppedSince;
};
#endif // ARACTIONBUMPERS
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