79 lines
3.1 KiB
C
79 lines
3.1 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARACTIONAVOIDFRONT_H
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#define ARACTIONAVOIDFRONT_H
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#include "ariaTypedefs.h"
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#include "ariaUtil.h"
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#include "ArFunctor.h"
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#include "ArAction.h"
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/// This action does obstacle avoidance, controlling both trans and rot
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/**
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This action uses whatever available range device have been added to
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the robot to avoid obstacles. See the ArActionAvoidFront
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constructor documentation to see the parameters it takes.
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Also note that this action does something most others don't, which
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is to check for a specific piece of hardware. This is the
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tableSensingIR. If this is set up in the parameters for the robot,
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it will use DigIn0 and DigIn1, where the tableSensingIRs are
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connected. Note that if you make useTableIRIfAvail false in the
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constructor it'll ignore these. Whether the action thinks the robot
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has them or not depends on the value of tableSensingIR in the
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parameter file for that robot.
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@ingroup ActionClasses
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*/
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class ArActionAvoidFront : public ArAction
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{
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public:
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/// Constructor
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AREXPORT ArActionAvoidFront(const char *name = "avoid front obstacles",
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double obstacleDistance = 450, double avoidVelocity = 200,
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double turnAmount = 15, bool useTableIRIfAvail = true);
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/// Destructor
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AREXPORT virtual ~ArActionAvoidFront();
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AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
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AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
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#ifndef SWIG
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AREXPORT virtual const ArActionDesired *getDesired(void) const
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{ return &myDesired; }
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#endif
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protected:
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double myTurnAmount;
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double myObsDist;
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double myAvoidVel;
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double myTurnAmountParam;
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bool myUseTableIRIfAvail;
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int myTurning; // 1 for turning left, 0 for not turning, -1 for turning right
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ArActionDesired myDesired;
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ArSectors myQuadrants;
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ArFunctorC<ArActionAvoidFront> myConnectCB;
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};
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#endif // ARACTIONAVOIDFRONT_H
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