143 lines
6.3 KiB
C
143 lines
6.3 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 ARACTIONRATIOINPUT_H
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#define ARACTIONRATIOINPUT_H
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#include "ariaTypedefs.h"
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#include "ArAction.h"
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/// Action that requests motion based on abstract ratios provided by diferent input sources
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/**
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This action interprets input drive commands as three abstract ratios,
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translation, rotation, and throttle. (In this way it mimics many joysticks.)
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The translation speed input ranges from -100 to 100, where -100 requests maximum
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backwards speed, and 100 requests maximum forward speed, 0 requests no
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translational speed, and values in between request a linear percentage of the maximum.
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Similarly, rotation speed input ranges from -100 to 100,
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where -100 indicates maximum rightwards or clockwise rotation, 100 indicates
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maximum leftwards or counter-clockwise rotation, 0 requests no rotation, and
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values in between request a linear percentage of the maximum. The throttle
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input scales the other speed, and ranges from 0 (no motion) to 100 (maximum motion).
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Seperate objects (e.g. ArRatioInputKeydrive, ArRatioInputJoydrive, ArRAtionInputRobotJoydrive)
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are used to provide input.
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When this action is activated it resets all its input ratios to 0
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(including throttle).
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Configuration parameters are used to map the maximum ratios to actual robot speeds.
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These are set be default to the robot's maximum configured velocities at startup but you can
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override them with ArConfig parameters (and call addToConfig()) or setParameters().
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@ingroup ActionClasses
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@see ArRatioInputKeydrive
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@see ArRatioInputJoydrive
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@see ArRatioInputRobotJoydrive
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**/
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class ArActionRatioInput : public ArAction
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{
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public:
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/// Constructor
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AREXPORT ArActionRatioInput(const char *name = "RatioInput");
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/// Destructor
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AREXPORT virtual ~ArActionRatioInput();
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/// Set ratios
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AREXPORT void setRatios(double transRatio, double rotRatio,
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double throttleRatio, double latRatio = 0);
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/// Sets the trans ratio (from -100 (full backwards) to 100 (full forwards)
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AREXPORT void setTransRatio(double transRatio);
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/// Sets the rot ratio (from -100 (full right) to 100 (full left)
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AREXPORT void setRotRatio(double rotRatio);
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/// Sets the lat ratio (from -100 (one way) to 100 (the other))
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AREXPORT void setLatRatio(double latRatio);
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/// Sets the throttle ratio (from 0 (stopped) to 100 (full throttle)
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AREXPORT void setThrottleRatio(double throttleRatio);
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/// Gets the trans ratio (from -100 (full backwards) to 100 (full forwards)
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double getTransRatio(void) { return myTransRatio; }
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/// Gets the rot ratio (from -100 (full right) to 100 (full left)
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double getRotRatio(void) { return myRotRatio; }
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/// Gets the throttle ratio (from 0 (stopped) to 100 (full throttle)
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double getThrottleRatio(void) { return myThrottleRatio; }
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/// Adds a callback that is called from this actions fire call
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AREXPORT void addFireCallback(int priority, ArFunctor *functor);
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/// Removes a callback that was called from this actions fire callback
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AREXPORT void remFireCallback(ArFunctor *functor);
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/// Adds a callback that is called when this action is activated
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AREXPORT void addActivateCallback(ArFunctor *functor,
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ArListPos::Pos position = ArListPos::LAST);
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/// Removes a callback that was called when this action is activated
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AREXPORT void remActivateCallback(ArFunctor *functor);
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/// Adds a callback that is called when this action is deactivated
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AREXPORT void addDeactivateCallback(ArFunctor *functor,
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ArListPos::Pos position = ArListPos::LAST);
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/// Removes a callback that was called when this action is deactivated
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AREXPORT void remDeactivateCallback(ArFunctor *functor);
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/// Sets the parameters
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AREXPORT void setParameters(double fullThrottleForwards,
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double fullThrottleBackwards,
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double rotAtFullForwards,
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double rotAtFullBackwards,
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double rotAtStopped,
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double latAtFullForwards = 0,
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double latAtFullBackwards = 0,
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double latAtStopped = 0);
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/// Adds to a section in a config
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AREXPORT void addToConfig(ArConfig *config, const char *section);
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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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AREXPORT virtual void activate(void);
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AREXPORT virtual void deactivate(void);
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protected:
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std::multimap<int, ArFunctor *> myFireCallbacks;
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std::list<ArFunctor *> myActivateCallbacks;
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std::list<ArFunctor *> myDeactivateCallbacks;
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// if we're printing extra information or not
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bool myPrinting;
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double myTransDeadZone;
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double myRotDeadZone;
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double myLatDeadZone;
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double myFullThrottleForwards;
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double myFullThrottleBackwards;
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double myRotAtFullForwards;
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double myRotAtFullBackwards;
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double myRotAtStopped;
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double myLatAtFullForwards;
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double myLatAtFullBackwards;
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double myLatAtStopped;
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double myTransRatio;
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double myRotRatio;
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double myThrottleRatio;
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double myLatRatio;
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ArActionDesired myDesired;
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};
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#endif // ARACTIONSTOP_H
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