stop.h
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00001 /* -*- mode: C++ -*-
00002  *
00003  *  Navigator stop controller
00004  *
00005  *  Copyright (C) 2007, 2010, Austin Robot Technology
00006  *  License: Modified BSD Software License Agreement
00007  *
00008  *  $Id: stop.h 872 2010-11-28 13:31:07Z jack.oquin $
00009  */
00010 
00011 #ifndef __STOP_H__
00012 #define __STOP_H__
00013 
00014 class Stop: public Controller
00015 {
00016 public:
00017 
00018   Stop(Navigator *navptr, int _verbose);
00019   ~Stop();
00020 
00021   // regular control method -- not supported
00022   result_t control(pilot_command_t &pcmd);
00023 
00024   // overloaded control method
00025   result_t control(pilot_command_t &pcmd, float distance, float threshold,
00026                    float topspeed=3.0);
00027   void reset(void);
00028 
00029 private:
00030 
00031   // controller state
00032   bool stopping;                        // stopping initiated
00033   bool creeping;                        // creeping up to line
00034   double initial_speed;                 // initial speed while stopping
00035 };
00036 
00037 #endif // __STOP_H__
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Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:42:11