safety.h

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/* -*- mode: C++ -*-
 *
 *  Navigator safety controller
 *
 *  Copyright (C) 2007, 2010, Austin Robot Technology
 *
 *  License: Modified BSD Software License Agreement
 *
 *  $Id: safety.h 479 2010-08-27 01:16:11Z jack.oquin $
 */

#ifndef __SAFETY_HH__
#define __SAFETY_HH__

#include "Controller.h"

// Safety control runs at the end of the Navigator cycle.  Its job is
// to avoid any obstacle in the vehicle's immediate path, regardless
// of states or lanes.  If we are about to hit something, either halt
// or swerve.

class Safety_Distance;

class Safety: public Controller
{
public:
  
  Safety(Navigator *navptr, int _verbose, int mode=0);
  ~Safety();
  
  // null configuration method
  void configure();
  
  // safety controller
  result_t control(pilot_command_t &pcmd);
  
  // reset all subordinate controllers
  void reset(void)
  {
    // TODO: implement this
  }

private:
  int _mode;

  float far_safety_time;
  float near_safety_time;
  float collision_safety_time;

  float far_slow_ratio;
  float near_slow_ratio;
  float safety_speed;

  Safety_Distance *safety;

  Controller::result_t halt_immediately(pilot_command_t &pcmd);
};

#endif // __SAFETY_HH__