accel.h
Go to the documentation of this file.00001 /* -*- mode: C++ -*- 00002 * 00003 * Copyright (C) 2011 Austin Robot Technology 00004 * License: Modified BSD Software License Agreement 00005 * 00006 * $Id: accel.h 1539 2011-05-09 04:09:20Z jack.oquin $ 00007 */ 00008 00017 #ifndef _ACCEL_H_ 00018 #define _ACCEL_H_ 00019 00020 #include <ros/ros.h> 00021 #include <art_msgs/PilotState.h> 00022 #include <art_pilot/PilotConfig.h> 00023 #include "device_interface.h" 00024 00025 namespace pilot 00026 { 00027 00029 class AccelBase 00030 { 00031 public: 00032 00038 AccelBase(art_pilot::PilotConfig &config) {}; 00039 00041 virtual ~AccelBase(); 00042 00044 typedef boost::shared_ptr<device_interface::ServoDeviceBase> ServoPtr; 00045 00052 virtual void adjust(art_msgs::PilotState &pstate, 00053 ServoPtr brake, ServoPtr throttle) = 0; 00054 00060 virtual void reconfigure(art_pilot::PilotConfig &newconfig) = 0; 00061 00063 virtual void reset(void) = 0; 00064 }; 00065 00067 typedef boost::shared_ptr<AccelBase> AccelBasePtr; 00068 00075 AccelBasePtr allocAccel(art_pilot::PilotConfig &config); 00076 00085 static inline float clamp(float lower, float value, float upper) 00086 { 00087 return std::max(lower, std::min(value, upper)); 00088 } 00089 00095 static inline float signum(float value) 00096 { 00097 return (value > 0.0? 1.0: 00098 (value == 0.0? 0.0: 00099 -1.0)); 00100 } 00101 00102 }; // namespace pilot 00103 00104 #endif // _ACCEL_H_