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__