stop.h

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/* -*- mode: C++ -*-
 *
 *  Navigator stop controller
 *
 *  Copyright (C) 2007, 2010, Austin Robot Technology
 *  License: Modified BSD Software License Agreement
 *
 *  $Id: stop.h 872 2010-11-28 13:31:07Z jack.oquin $
 */

#ifndef __STOP_H__
#define __STOP_H__

class Stop: public Controller
{
public:

  Stop(Navigator *navptr, int _verbose);
  ~Stop();

  // regular control method -- not supported
  result_t control(pilot_command_t &pcmd);

  // overloaded control method
  result_t control(pilot_command_t &pcmd, float distance, float threshold,
                   float topspeed=3.0);
  void reset(void);

private:

  // controller state
  bool stopping;                        // stopping initiated
  bool creeping;                        // creeping up to line
  double initial_speed;                 // initial speed while stopping
};

#endif // __STOP_H__