art_nav: art_nav: zone.h Source File

00001 /* -*- mode: C++ -*-
00002  *
00003  *  Navigator zone controller
00004  *
00005  *  Copyright (C) 2007, 2010, Austin Robot Technology
00006  *
00007  *  License: Modified BSD Software License Agreement
00008  *
00009  *  $Id: zone.h 479 2010-08-27 01:16:11Z jack.oquin $
00010  */
00011 
00012 #ifndef __ZONE_HH__
00013 #define __ZONE_HH__
00014 
00015 class Safety;
00016 
00017 class Zone: public Controller
00018 {
00019 public:
00020 
00021   Zone(Navigator *navptr, int _verbose);
00022   ~Zone();
00023   void configure();
00024   result_t control(pilot_command_t &pcmd);
00025   void reset(void);
00026 
00027 private:
00028 
00029   // .cfg variables
00030   float zone_speed_limit;
00031 
00032   Safety *safety;
00033 
00034   void set_heading(pilot_command_t &pcmd);
00035 };
00036 
00037 #endif // __ZONE_HH__