/*

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 ARACTIONAVOIDSIDE_H
#define ARACTIONAVOIDSIDE_H

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

/// Action to avoid impacts by firening into walls at a shallow angle
/**
   This action watches the sensors to see if it is close to firening into a wall
   at a shallow enough angle that other avoidance may not avoid.
*/
class ArActionAvoidSide : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionAvoidSide(const char *name = "Avoid side", 
		    double obstacleDistance = 300,
		    double turnAmount = 5);
  /// Destructor
  AREXPORT virtual ~ArActionAvoidSide();
  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 myObsDist;
  double myTurnAmount;
  bool myTurning;
  ArActionDesired myDesired;

};

#endif // ARACTIONAVOIDSIDE_H