109 lines
3.9 KiB
C
109 lines
3.9 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 ARACTIONDRIVEDISTANCE_H
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#define ARACTIONDRIVEDISTANCE_H
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#include "ariaTypedefs.h"
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#include "ariaUtil.h"
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#include "ArAction.h"
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/// This action goes to a given ArPose very naively
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/**
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This action naively drives a fixed distance. The action stops the
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robot when it has travelled the appropriate distance. It
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travels at 'speed' mm/sec.
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You can give it a distance with setDistance(), cancel its movement
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with cancelDistance(), and see if it got there with
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haveAchievedDistance().
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You can tell it to go backwards by calling setDistance with a
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negative value.
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This doesn't avoid obstacles or anything, you could add have an
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limiting ArAction at a higher priority to try to do this (so you
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don't smash things). (For truly intelligent navigation, see
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the ARNL or SONARNL software libraries.)
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@ingroup ActionClasses
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**/
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class ArActionDriveDistance : public ArAction
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{
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public:
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AREXPORT ArActionDriveDistance(const char *name = "driveDistance",
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double speed = 400, double deceleration = 200);
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AREXPORT virtual ~ArActionDriveDistance();
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/// Sees if the goal has been achieved
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AREXPORT bool haveAchievedDistance(void);
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/// Cancels the goal the robot has
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AREXPORT void cancelDistance(void);
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/// Sets a new goal and sets the action to go there
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AREXPORT void setDistance(double distance, bool useEncoders = true);
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/// Gets whether we're using the encoder position or the normal position
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bool usingEncoders(void) { return myUseEncoders; }
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/// Sets the speed the action will travel at (mm/sec)
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void setSpeed(double speed = 400) { mySpeed = speed; }
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/// Gets the speed the action will travel at (mm/sec)
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double getSpeed(void) { return mySpeed; }
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/// Sets the deceleration the action will use (mm/sec/sec)
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void setDeceleration(double deceleration = 200)
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{ myDeceleration = deceleration; }
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/// Gets the deceleration the action will use (mm/sec/sec)
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double getDeceleration(void) { return myDeceleration; }
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/// Sets if we're printing or not
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void setPrinting(bool printing) { myPrinting = printing; }
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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 myDistance;
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bool myUseEncoders;
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double mySpeed;
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double myDeceleration;
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ArActionDesired myDesired;
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bool myPrinting;
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double myLastVel;
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double myDistTravelled;
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ArPose myLastPose;
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enum State
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{
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STATE_NO_DISTANCE,
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STATE_ACHIEVED_DISTANCE,
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STATE_GOING_DISTANCE
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};
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State myState;
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};
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#endif // ARACTIONDRIVE
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