passing.h

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/* -*- mode: C++ -*-
 *
 *  Navigator passing controller
 *
 *  Copyright (C) 2007, 2010, Austin Robot Technology
 *
 *  License: Modified BSD Software License Agreement
 *
 *  $Id: passing.h 479 2010-08-27 01:16:11Z jack.oquin $
 */

#ifndef __PASSING_HH__
#define __PASSING_HH__

class Avoid;
class Halt;
class LaneHeading;
class FollowSafely;
class SlowForCurves;

class Passing: public Controller
{
public:

  Passing(Navigator *navptr, int _verbose);
  ~Passing();
  void configure();
  result_t control(pilot_command_t &pcmd);
  void reset(void);

private:
  bool in_passing_lane;

  Avoid         *avoid;
  Halt          *halt;
  FollowSafely  *follow_safely;
  LaneHeading   *lane_heading;
  SlowForCurves *slow_for_curves;

  // .cfg variables
  float passing_distance;
  float close_stopping_distance;
  float passing_distance_ahead;
  float passing_distance_behind;
  float passing_speed;

  bool done_passing(void);

  // reset this controller only
  void reset_me(void);
};

#endif // __PASSING_HH__

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art_nav
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Fri Jan 11 10:05:25 2013