art_nav: art_nav: slow_for_curves.h Source File

00001 /* -*- mode: C++ -*-
00002  *
00003  *  Navigator "slow down for curves" controller
00004  *  Copyright (C) 2007, 2010, Mickey Ristroph
00005  *
00006  *  License: Modified BSD Software License Agreement
00007  *
00008  *  $Id: slow_for_curves.h 872 2010-11-28 13:31:07Z jack.oquin $
00009  */
00010 
00011 #ifndef __SLOW_FOR_CURVES_HH__
00012 #define __SLOW_FOR_CURVES_HH__
00013 
00014 class SlowForCurves: public Controller
00015 {
00016 public:
00017 
00018   SlowForCurves(Navigator *navptr, int _verbose):
00019     Controller(navptr, _verbose), current_limiting_id(0) {}
00020   ~SlowForCurves() {}
00021   result_t control(pilot_command_t &pcmd);
00022   void reset(void);
00023 
00024 
00025 private:
00026   
00027   // state
00028   int current_limiting_id;
00029   
00030   float max_safe_speed(const std::vector<poly>& polygons,
00031                        const int& start_index,
00032                        const int& stop_index,
00033                        const float& max);
00034 };
00035 
00036 #endif // __SLOW_FOR_CURVES_HH__