104 lines
3.7 KiB
C
104 lines
3.7 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 ARACTIONKEYDRIVE_H
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#define ARACTIONKEYDRIVE_H
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#include "ariaTypedefs.h"
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#include "ArAction.h"
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#include "ArFunctor.h"
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class ArRobot;
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/// This action will use the keyboard arrow keys for input to drive the robot
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/// @ingroup ActionClasses
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class ArActionKeydrive : public ArAction
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{
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public:
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/// Constructor
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AREXPORT ArActionKeydrive(const char *name = "keydrive",
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double transVelMax = 400,
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double turnAmountMax = 24,
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double velIncrement = 25,
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double turnIncrement = 8);
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/// Destructor
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AREXPORT virtual ~ArActionKeydrive();
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AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
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/// For setting the maximum speeds
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AREXPORT void setSpeeds(double transVelMax, double turnAmountMax);
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/// For setting the increment amounts
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AREXPORT void setIncrements(double velIncrement, double turnIncrement);
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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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AREXPORT virtual void setRobot(ArRobot *robot);
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AREXPORT virtual void activate(void);
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AREXPORT virtual void deactivate(void);
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/// Takes the keys this action wants to use to drive
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AREXPORT void takeKeys(void);
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/// Gives up the keys this action wants to use to drive
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AREXPORT void giveUpKeys(void);
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/// Internal, callback for up arrow
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AREXPORT void up(void);
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/// Internal, callback for down arrow
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AREXPORT void down(void);
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/// Internal, callback for left arrow
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AREXPORT void left(void);
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/// Internal, callback for right arrow
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AREXPORT void right(void);
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/// Internal, callback for space key
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AREXPORT void space(void);
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protected:
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ArFunctorC<ArActionKeydrive> myUpCB;
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ArFunctorC<ArActionKeydrive> myDownCB;
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ArFunctorC<ArActionKeydrive> myLeftCB;
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ArFunctorC<ArActionKeydrive> myRightCB;
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ArFunctorC<ArActionKeydrive> mySpaceCB;
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// action desired
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ArActionDesired myDesired;
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// full speed
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double myTransVelMax;
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// full amount to turn
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double myTurnAmountMax;
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// amount to increment vel by on an up arrow or decrement on a down arrow
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double myVelIncrement;
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// amount to increment turn by on a left arrow or right arrow
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double myTurnIncrement;
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// amount we want to speed up
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double myDeltaVel;
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// amount we want to turn
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double myTurnAmount;
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// what speed we want to go
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double myDesiredSpeed;
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// if our speeds been reset
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bool mySpeedReset;
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};
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#endif // ARACTIONKEYDRIVE_H
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