97 lines
4.0 KiB
C
97 lines
4.0 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 ARINTERPOLATION_H
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#define ARINTERPOLATION_H
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#include "ariaTypedefs.h"
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#include "ariaUtil.h"
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/**
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This class takes care of storing in readings of position vs time, and then
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interpolating between them to find where the robot was at a particular
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point in time. It has two lists, one containing the times, and one
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containing the positions at those same times (per position), they must be
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walked through jointly to maintain cohesion. The new entries are at the
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front of the list, while the old ones are at the back.
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numberOfReadings and the setNumberOfReadings control the number of entries
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in the list. If a size is set that is smaller than the current size, then
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the old ones are chopped off.
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This class now has a couple of variables for when it allows
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prediction, they're set with setAllowedMSForPrediction and
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setAllowedPercentageForPrediction. If either is below 0 than they
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are ignored (if both are below 0 it means any prediction is
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allowed, which would be bad). Previous there was no MS limit, and
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the percentage limit was 50 (and so that is what the default is
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now).
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**/
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class ArInterpolation
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{
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public:
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/// Constructor
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AREXPORT ArInterpolation(size_t numberOfReadings = 100);
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/// Destructor
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AREXPORT virtual ~ArInterpolation();
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/// Adds a new reading
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AREXPORT bool addReading(ArTime timeOfReading, ArPose position);
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/// Finds a position
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AREXPORT int getPose(ArTime timeStamp, ArPose *position,
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ArPoseWithTime *lastData = NULL);
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/// Sets the name
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AREXPORT void setName(const char *name);
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/// Gets the name
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AREXPORT const char *getName(void);
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/// Sets the allowed milliseconds for prediction
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AREXPORT void setAllowedMSForPrediction(int ms = -1);
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/// Sets the allowed milliseconds for prediction
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AREXPORT int getAllowedMSForPrediction(void);
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/// Sets the allowed percentage for prediction
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AREXPORT void setAllowedPercentageForPrediction(int percentage = 5000);
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/// Sets the allowed milliseconds for prediction
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AREXPORT int getAllowedPercentageForPrediction(void);
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/// Sets if we should log events for this interpolation
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AREXPORT void setLogPrediction(bool logPrediction = false);
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/// Gets if we should log events for this interpolation
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AREXPORT bool getLogPrediction(void);
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/// Sets the number of readings this instance holds back in time
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AREXPORT void setNumberOfReadings(size_t numberOfReadings);
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/// Gets the number of readings this instance holds back in time
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AREXPORT size_t getNumberOfReadings(void) const;
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/// Empties the interpolated positions
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AREXPORT void reset(void);
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protected:
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ArMutex myDataMutex;
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std::string myName;
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std::list<ArTime> myTimes;
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std::list<ArPose> myPoses;
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size_t mySize;
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bool myLogPrediction;
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int myAllowedMSForPrediction;
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int myAllowedPercentageForPrediction;
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};
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#endif
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