art_nav: art_nav: stop_area.h Source File

00001 /* -*- mode: C++ -*-
00002  *
00003  *  Navigator stop line safety area controller
00004  *
00005  *  Copyright (C) 2007, 2010, Austin Robot Technology
00006  *  License: Modified BSD Software License Agreement
00007  *
00008  *  $Id: stop_area.h 872 2010-11-28 13:31:07Z jack.oquin $
00009  */
00010 
00011 
00012 #ifndef __STOP_AREA_HH__
00013 #define __STOP_AREA_HH__
00014 
00015 class StopArea: public Controller
00016 {
00017 public:
00018 
00019   StopArea(Navigator *navptr, int _verbose);
00020   ~StopArea();
00021   result_t control(pilot_command_t &pcmd);
00022   void reset(void);
00023 
00024 private:
00025 
00026   // controller state
00027   bool in_safety_area;
00028 
00029   void reset_me(void);
00030 };
00031 
00032 #endif // __STOP_AREA_HH__