115 lines
4.5 KiB
C
115 lines
4.5 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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#ifndef ARACTIONDECELERATINGLIMITER_H
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#define ARACTIONDECELERATINGLIMITER_H
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#include "ariaTypedefs.h"
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#include "ArAction.h"
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/// Action to limit the forwards motion of the robot based on range sensor readings
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/**
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This action uses the robot's range sensors (e.g. sonar, laser) to find a
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maximum speed at which to travel
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and will increase the deceleration so that the robot doesn't hit
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anything. If it has to, it will trigger an estop to avoid a
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collision.
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Note that this cranks up the deceleration with a strong strength,
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but it checks to see if there is already something decelerating
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more strongly... so you can put these actions lower in the priority list so
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things will play together nicely.
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@ingroup ActionClasses
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**/
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class ArActionDeceleratingLimiter : public ArAction
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{
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public:
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enum LimiterType {
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FORWARDS, ///< Limit forwards
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BACKWARDS, ///< Limit backwards
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LATERAL_LEFT, ///< Limit lateral left
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LATERAL_RIGHT ///< Limit lateral right
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};
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/// Constructor
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AREXPORT ArActionDeceleratingLimiter(const char *name = "limitAndDecel",
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LimiterType type = FORWARDS);
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/// Destructor
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AREXPORT virtual ~ArActionDeceleratingLimiter();
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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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/// Sets the parameters (don't use this if you're using the addToConfig)
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AREXPORT void setParameters(double clearance = 100,
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double sideClearanceAtSlowSpeed = 50,
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double paddingAtSlowSpeed = 50,
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double slowSpeed = 200,
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double sideClearanceAtFastSpeed = 400,
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double paddingAtFastSpeed = 300,
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double fastSpeed = 1000,
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double preferredDecel = 600,
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bool useEStop = false,
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double maxEmergencyDecel = 0);
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/// Gets if this will control us when going forwards
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LimiterType getType(void) { return myType; }
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/// Sets if this will control us when going forwards
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void setType(LimiterType type) { myType = type; }
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/// Adds to the ArConfig given, in section, with prefix
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AREXPORT void addToConfig(ArConfig *config, const char *section,
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const char *prefix = NULL);
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/// Sets if we're using locationDependent range devices or not
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bool getUseLocationDependentDevices(void)
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{ return myUseLocationDependentDevices; }
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/// Sets if we're using locationDependent range devices or not
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void setUseLocationDependentDevices(bool useLocationDependentDevices)
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{ myUseLocationDependentDevices = useLocationDependentDevices; }
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// sets if we should stop rotation too if this action has stopped the robot
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void setStopRotationToo(bool stopRotationToo)
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{ myStopRotationToo = stopRotationToo; }
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protected:
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bool myLastStopped;
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LimiterType myType;
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double myClearance;
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double mySideClearanceAtSlowSpeed;
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double myPaddingAtSlowSpeed;
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double mySlowSpeed;
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double mySideClearanceAtFastSpeed;
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double myPaddingAtFastSpeed;
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double myFastSpeed;
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double myPreferredDecel;
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double myMaxEmergencyDecel;
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bool myUseEStop;
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bool myUseLocationDependentDevices;
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bool myStopRotationToo;
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//unused? double myDecelerateDistance;
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ArActionDesired myDesired;
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};
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#endif // ARACTIONSPEEDLIMITER_H
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