/usr/include/Aria/ArSonarAutoDisabler.h is in libaria-dev 2.8.0+repack-1ubuntu1.
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 | /*
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 ARSONARAUTODISABLER_H
#define ARSONARAUTODISABLER_H
/// Class for automatically disabling sonar when the robot is stopped
/**
If you create one of this class it will disable the sonar when the
robot stops moving and then enable the sonar when the robot moves.
Later this may get more parameters and the ability to be turned on
and off and things like that (email on aria-users if you want
them).
Note that this class assumes it is the only class turning the sonar
on or off and that the sonar start on.
@ingroup OptionalClasses
**/
#include "ariaTypedefs.h"
#include "ariaUtil.h"
#include "ArFunctor.h"
class ArRobot;
class ArSonarAutoDisabler
{
public:
/// Constructor
AREXPORT ArSonarAutoDisabler(ArRobot *robot);
/// Destructor
AREXPORT virtual ~ArSonarAutoDisabler();
/// Supresses this disabler (which turns off the sonar)
void supress(void) { mySupressed = true; }
/// Gets the callback to supress the autodisabler
ArFunctor *getSupressCallback(void) { return &mySupressCB; }
/// Unsupresses this disabler (goes back to auto enabling/disabling)
void unsupress(void) { mySupressed = false; }
/// Gets the callback to supress the autodisabler
ArFunctor *getUnsupressCallback(void) { return &myUnsupressCB; }
/// Sets that we're autonomous drivign so we only enable some sonar
void setAutonomousDriving(void) { myAutonomousDriving = true; }
/// Gets the callback to set that we're driving autonomously
ArFunctor *getSetAutonomousDrivingCallback(void)
{ return &mySetAutonomousDrivingCB; }
/// Sets that we're driving non-autonomously so we enable all sonar
void clearAutonomousDriving(void) { myAutonomousDriving = false; }
/// Gets the callback to set that we're not driving autonomously
ArFunctor *getClearAutonomousDrivingCallback(void)
{ return &myClearAutonomousDrivingCB; }
protected:
/// our user task
AREXPORT void userTask(void);
ArRobot *myRobot;
ArTime myLastMoved;
ArTime myLastSupressed;
bool mySupressed;
bool myAutonomousDriving;
ArFunctorC<ArSonarAutoDisabler> myUserTaskCB;
ArFunctorC<ArSonarAutoDisabler> mySupressCB;
ArFunctorC<ArSonarAutoDisabler> myUnsupressCB;
ArFunctorC<ArSonarAutoDisabler> mySetAutonomousDrivingCB;
ArFunctorC<ArSonarAutoDisabler> myClearAutonomousDrivingCB;
};
#endif // ARSONARAUTODISABLER
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