avoid.h
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00001 /* -*- mode: C++ -*-
00002  *
00003  *  Navigator avoid obstacles in path controller
00004  *
00005  *  Copyright (C) 2007, 2010, Austin Robot Technology
00006  *
00007  *  License: Modified BSD Software License Agreement
00008  *
00009  *  $Id: avoid.h 479 2010-08-27 01:16:11Z jack.oquin $
00010  */
00011 
00012 #ifndef __AVOID_HH__
00013 #define __AVOID_HH__
00014 
00015 class LaneEdge;
00016 class Safety;
00017 
00018 class Avoid: public Controller
00019 {
00020 public:
00021 
00022   Avoid(Navigator *navptr, int _verbose);
00023   ~Avoid();
00024   void configure();
00025   result_t control(pilot_command_t &pcmd, pilot_command_t incmd);
00026   void reset(void);
00027 
00028 private:
00029 
00030   // .cfg variables
00031   float left_offset_ratio;
00032   float right_offset_ratio;
00033 
00034   LaneEdge *lane_edge;
00035   Safety *safety;
00036 
00037   void reset_me(void);
00038 };
00039 
00040 #endif // __AVOID_HH__
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art_nav
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:42:11