art_nav: art_nav: follow_safely.h Source File

00001 /* -*- mode: C++ -*-
00002  *
00003  *  Navigator safe following distance controller
00004  *
00005  *  Copyright (C) 2007, 2010, Austin Robot Technology
00006  *
00007  *  License: Modified BSD Software License Agreement
00008  *
00009  *  $Id: follow_safely.h 872 2010-11-28 13:31:07Z jack.oquin $
00010  */
00011 
00012 #ifndef __FOLLOW_SAFELY_HH__
00013 #define __FOLLOW_SAFELY_HH__
00014 
00015 class FollowSafely: public Controller
00016 {
00017 public:
00018 
00019   FollowSafely(Navigator *navptr, int _verbose);
00020   ~FollowSafely();
00021   result_t control(pilot_command_t &pcmd);
00022 
00023 private:
00024 
00025   // adjust speed to maintain a safe following time
00026   void adjust_speed(pilot_command_t &pcmd, float obs_dist);
00027 };
00028 
00029 #endif // __FOLLOW_SAFELY_HH__