halt.h
Go to the documentation of this file.00001 /* -*- mode: C++ -*- 00002 * 00003 * Navigator halt controller 00004 * 00005 * Copyright (C) 2007, 2010, Austin Robot Technology 00006 * 00007 * License: Modified BSD Software License Agreement 00008 * 00009 * $Id: halt.h 479 2010-08-27 01:16:11Z jack.oquin $ 00010 */ 00011 00012 #ifndef __HALT_HH__ 00013 #define __HALT_HH__ 00014 00015 #include "course.h" 00016 00017 class Halt: public Controller 00018 { 00019 public: 00020 00021 Halt(Navigator *navptr, int _verbose): 00022 Controller(navptr, _verbose) {}; 00023 00024 ~Halt() {}; 00025 00026 // halt immediately 00027 result_t control(pilot_command_t &pcmd) 00028 { 00029 course->no_waypoint_reached(); 00030 pcmd.velocity = 0.0; 00031 pcmd.yawRate = 0.0; 00032 return OK; 00033 }; 00034 00035 private: 00036 }; 00037 00038 #endif // __HALT_HH__