art_pilot: accel_speed.h Source File

00001 /* -*- mode: C++ -*-
00002  *
00003  *  Copyright (C) 2011 Austin Robot Technology
00004  *  License: Modified BSD Software License Agreement
00005  * 
00006  *  $Id: accel_speed.h 1539 2011-05-09 04:09:20Z jack.oquin $
00007  */
00008 
00017 #ifndef _ACCEL_SPEED_H_
00018 #define _ACCEL_SPEED_H_
00019 
00020 #include "accel.h"
00021 #include "speed.h"
00022 
00023 namespace pilot
00024 {
00025 
00027 class AccelSpeed: public AccelBase
00028 {
00029  public:
00030 
00031   AccelSpeed(art_pilot::PilotConfig &config);
00032   virtual ~AccelSpeed();
00033 
00034   typedef boost::shared_ptr<device_interface::ServoDeviceBase> ServoPtr;
00035 
00042   virtual void adjust(art_msgs::PilotState &pstate,
00043                       ServoPtr brake, ServoPtr throttle);
00044 
00046   virtual void reconfigure(art_pilot::PilotConfig &newconfig);
00047 
00049   virtual void reset(void);
00050 
00051 private:
00052 
00053   boost::shared_ptr<SpeedControl> speed_; // speed control
00054 };
00055   
00056 }; // namespace pilot
00057 
00058 #endif // _ACCEL_SPEED_H_