96 lines
2.5 KiB
C++
96 lines
2.5 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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#include "ArExport.h"
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#include "ariaOSDef.h"
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#include "ArActionInput.h"
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#include "ArRobot.h"
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/**
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@param name name of the action
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*/
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AREXPORT ArActionInput::ArActionInput(const char *name) :
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ArAction(name, "Inputs vel and heading")
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{
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clear();
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}
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AREXPORT ArActionInput::~ArActionInput()
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{
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}
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AREXPORT void ArActionInput::setVel(double vel)
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{
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myUsingVel = true;
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myVelSet = vel;
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}
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AREXPORT void ArActionInput::setRotVel(double rotVel)
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{
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myRotRegime = ROTVEL;
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myRotVal = rotVel;
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}
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AREXPORT void ArActionInput::deltaHeadingFromCurrent(double delta)
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{
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myRotRegime = DELTAHEADING;
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myRotVal = delta;
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}
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AREXPORT void ArActionInput::setHeading(double heading)
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{
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myRotRegime = SETHEADING;
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myRotVal = heading;
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}
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AREXPORT void ArActionInput::clear(void)
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{
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myUsingVel = false;
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myRotRegime = NONE;
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}
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AREXPORT ArActionDesired *ArActionInput::fire(
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ArActionDesired currentDesired)
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{
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myDesired.reset();
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if (myUsingVel)
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myDesired.setVel(myVelSet);
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if (myRotRegime == ROTVEL)
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myDesired.setRotVel(myRotVal);
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else if (myRotRegime == DELTAHEADING)
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{
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myDesired.setDeltaHeading(myRotVal);
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myRotVal = 0;
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}
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else if (myRotRegime == SETHEADING)
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myDesired.setHeading(myRotVal);
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else if (myRotRegime != NONE)
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ArLog::log(ArLog::Normal, "ArActionInput::fire: Bad rot regime %d",
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myRotRegime);
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return &myDesired;
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}
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