KeepDistanceTask.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
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 * Contact: info@mira-project.org
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#ifndef _MIRA_KEEPDISTANCETASK_H_
#define _MIRA_KEEPDISTANCETASK_H_

#include <navigation/Task.h>

namespace mira { namespace navigation {


class KeepDistanceTask : public SubTask
{
    MIRA_OBJECT(KeepDistanceTask);
public:

    KeepDistanceTask() : minDistance(0.0f), desiredDistance(0.0f), criticalDistance(0.0f) {}

    KeepDistanceTask(float minDist, float desiredDist) :
        minDistance(minDist),
        desiredDistance(desiredDist),
        criticalDistance(minDist - 0.05f)
    {}

    KeepDistanceTask(float minDist, float desiredDist, float criticalDistance) :
        minDistance(minDist),
        desiredDistance(desiredDist),
        criticalDistance(criticalDistance)
    {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, SubTask);
        r.property("MinDistance", minDistance, "The minimum distance to keep from obstacles.", 0.0f);
        r.property("DesiredDistance", desiredDistance, "The desired distance to keep from obstacles.", 0.0f);
        r.property("CriticalDistance", criticalDistance, "The critical distance that triggers recovery "
                   "(should be below MinDistance).", 0.0f);
    }

public:

    float minDistance;
    float desiredDistance;
    float criticalDistance;

};


}}

#endif