accel.h

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/* -*- mode: C++ -*-
 *
 *  Copyright (C) 2011 Austin Robot Technology
 *  License: Modified BSD Software License Agreement
 * 
 *  $Id: accel.h 1539 2011-05-09 04:09:20Z jack.oquin $
 */

#ifndef _ACCEL_H_
#define _ACCEL_H_

#include <ros/ros.h>
#include <art_msgs/PilotState.h>
#include <art_pilot/PilotConfig.h>
#include "device_interface.h"

namespace pilot
{

class AccelBase
{
 public:

  AccelBase(art_pilot::PilotConfig &config) {};

  virtual ~AccelBase();

  typedef boost::shared_ptr<device_interface::ServoDeviceBase> ServoPtr;

  virtual void adjust(art_msgs::PilotState &pstate,
                      ServoPtr brake, ServoPtr throttle) = 0;

  virtual void reconfigure(art_pilot::PilotConfig &newconfig) = 0;

  virtual void reset(void) = 0;
};

typedef boost::shared_ptr<AccelBase> AccelBasePtr;

AccelBasePtr allocAccel(art_pilot::PilotConfig &config);

static inline float clamp(float lower, float value, float upper)
{
  return std::max(lower, std::min(value, upper));
}

static inline float signum(float value)
{
  return (value > 0.0? 1.0:
          (value == 0.0? 0.0:
           -1.0));
}
  
}; // namespace pilot

#endif // _ACCEL_H_