art_nav: art_nav: lane_edge.h Source File

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