Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2006 Alex Brooks, Alexei Makarenko, Tobias Kaupp, Ben Upcroft
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 #ifndef ORCA_SPEEDLIMITER_H
00011 #define ORCA_SPEEDLIMITER_H
00012 
00013 #include <orcaice/context.h>
00014 #include <orcaice/heartbeater.h>
00015 #include <orcalocalnav/goal.h>
00016 #include <hydronavutil/hydronavutil.h>
00017 
00018 namespace localnav {
00019 
00020 class LocalNavParameters;
00021 
00022 //
00023 // Constrains the speed according to the next goal taking into account the time
00024 // left remaining to reach that goal.
00025 // The goal is in the robot's local frame of reference.
00026 //
00027 // @author Alex Brooks
00028 //
00029 class SpeedLimiter
00030 {
00031 
00032 public: 
00033 
00034     SpeedLimiter( const orcaice::Context &context );
00035 
00036     // constrain the max speeds for a particular goal
00037     void constrainMaxSpeeds( orcalocalnav::Goal &goal,
00038                              const hydronavutil::Velocity &currentVelocity );
00039 
00040 private: 
00041 
00042     void maybeSendHeartbeat( double secondsBehindSchedule );
00043     
00044     // Maintain these for heartbeat messages
00045     double  secondsBehindSchedule_;
00046 
00047     orcaice::Heartbeater heartbeater_;
00048     orcaice::Context  context_;
00049 };
00050 
00051 }
00052 
00053 #endif
speedlimiter.h
