/*

ARIA header files for use with ARNL 1.7.1

Copyright(C) 2004, 2005 ActivMedia Robotics, LLC. 
Copyright(C) 2006, 2007, 2008, 2009 MobileRobots Inc.
All rights reserved.

This copy of Aria was relicensed for use with Arnl and the Arnl
license by MobileRobots Inc.  If you wish to download a seperate
distribution of Aria licensed under the GPL or a commercial license go to
http://www.mobilerobots.com/SOFTWARE/aria.html or contact MobileRobots
Inc, at robots@mobilerobots.com or MobileRobots Inc,
10 Columbia Drive, Amherst, NH 03031; 800-639-9481

MobileRobots Inc hereby grants to other individuals or
organizations permission to use this software with Arnl and in
compliance with the Arnl license.  This software may not be
distributed to others except by MobileRobots Inc.

MobileRobots Inc does not make any representations about the
suitability of this software for any purpose.  It is provided "as is"
without express or implied warranty.

*/
#ifndef ARACTIONLIMITERTABLESNSOR_H
#define ARACTIONLIMITERTABLESNSOR_H

#include "ariaTypedefs.h"
#include "ArAction.h"

/// Action to limit speed (and stop) based on whether the "table"-sensors see anything
/**
   This action limits speed to 0 if the table-sensors see anything in front
   of the robot.  The action will only work if the robot has table sensors,
   meaning that the robots parameter file has them listed as true.
*/
class ArActionLimiterTableSensor : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionLimiterTableSensor(const char *name = "TableSensorLimiter");
  /// Destructor
  AREXPORT virtual ~ArActionLimiterTableSensor();
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
  AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
  AREXPORT virtual const ArActionDesired *getDesired(void) const 
                                                        { return &myDesired; }
#endif
protected:
  ArActionDesired myDesired;
};



#endif // ARACTIONLIMITERTABLESNSOR_H
