/*

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 ARACTIONBACKWARDSSPEEDLIMITER_H
#define ARACTIONBACKWARDSSPEEDLIMITER_H

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

/// Action to limit the backwards motion of the robot based on range sensor readings
/**
   This class limits the backwards motion of the robot according to range sensor
   readings (e.g. sonar, laser), and the parameters given. When the range
   sensor (e.g. sonar or laser) detects rearward obstacles closer than the given parameters,
   this action requests that the robot decelerate or stop any current backwards movement.
*/
class ArActionLimiterBackwards : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionLimiterBackwards(const char *name = "speed limiter", 
				    double stopDistance = -250,
				    double slowDistance = -600,
				    double maxBackwardsSpeed = -250,
				    double widthRatio = 1.5);
  /// Destructor
  AREXPORT virtual ~ArActionLimiterBackwards();
  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 myStopDist;
  double mySlowDist;
  double myMaxBackwardsSpeed;
  double myWidthRatio;
  ArActionDesired myDesired;
};

#endif // ARACTIONBACKWARDSSPEEDLIMITER_H