accel_speed.h

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

#ifndef _ACCEL_SPEED_H_
#define _ACCEL_SPEED_H_

#include "accel.h"
#include "speed.h"

namespace pilot
{

class AccelSpeed: public AccelBase
{
 public:

  AccelSpeed(art_pilot::PilotConfig &config);
  virtual ~AccelSpeed();

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

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

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

  virtual void reset(void);

private:

  boost::shared_ptr<SpeedControl> speed_; // speed control
};
  
}; // namespace pilot

#endif // _ACCEL_SPEED_H_