/*

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 ARACTIONAVOIDFRONT_H
#define ARACTIONAVOIDFRONT_H

#include "ariaTypedefs.h"
#include "ariaUtil.h"
#include "ArFunctor.h"
#include "ArAction.h"

/// This action does obstacle avoidance, controlling both trans and rot
/**
   This action uses whatever available range device have been added to
   the robot to avoid obstacles.  See the ArActionAvoidFront
   constructor documentation to see the parameters it takes.

   Also note that this action does something most others don't, which
   is to check for a specific piece of hardware.  This is the
   tableSensingIR.  If this is set up in the parameters for the robot,
   it will use DigIn0 and DigIn1, where the tableSensingIRs are
   connected.  Note that if you make useTableIRIfAvail false in the
   constructor it'll ignore these. Whether the action thinks the robot
   has them or not depends on the value of tableSensingIR in the
   parameter file for that robot. 
*/
class ArActionAvoidFront : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionAvoidFront(const char *name = "avoid front obstacles", 
		     double obstacleDistance = 450, double avoidVelocity = 200,
		     double turnAmount = 15, bool useTableIRIfAvail = true);
  /// Destructor
  AREXPORT virtual ~ArActionAvoidFront();
  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:
  double myTurnAmount;
  double myObsDist;
  double myAvoidVel;
  double myTurnAmountParam;
  bool myUseTableIRIfAvail;
  int myTurning; // 1 for turning left, 0 for not turning, -1 for turning right
  ArActionDesired myDesired;
  ArSectors myQuadrants;
  ArFunctorC<ArActionAvoidFront> myConnectCB;
};

#endif // ARACTIONAVOIDFRONT_H
