123 lines
4.5 KiB
C++
123 lines
4.5 KiB
C++
/*
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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 ARACTIONGOTO_H
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#define ARACTIONGOTO_H
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#include "ariaTypedefs.h"
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#include "ariaUtil.h"
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#include "ArAction.h"
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/// This action goes to a given ArPose very naively
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/**
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This action naively drives straight towards a given ArPose. the
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action stops when it gets to be a certain distance (closeDist)
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from the goal pose. It travels at the given speed (mm/sec).
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You can give it a new goal with setGoal(), clear the current goal
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with cancelGoal(), and see if it got there with haveAchievedGoal().
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Once the goal is reached, this action stops requesting any action.
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This doesn't avoid obstacles or anything, you could have an avoid
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routine at a higher priority to avoid on the way there... but for
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real and intelligent looking navigation you should use something
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like ARNL, or build on these actions.
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@ingroup ActionClasses
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**/
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class ArActionGoto : public ArAction
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{
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public:
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AREXPORT ArActionGoto(const char *name = "goto",
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ArPose goal = ArPose(0.0, 0.0, 0.0),
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double closeDist = 100, double speed = 400,
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double speedToTurnAt = 150, double turnAmount = 7);
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AREXPORT virtual ~ArActionGoto();
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/** Sees if the goal has been achieved. The goal is achieved when
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* the robot's repordet position is within a certain distance
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* (given in the constructor or in setCloseDist) from the goal pose. */
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AREXPORT bool haveAchievedGoal(void);
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/** Cancels the goal; this action will stop requesting movement. However,
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* any currently requested motion (either previously requested by this
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* action or by another action) will continue to be used. Use an ArActionStop
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* action (activate it, or set it at a lower priority) to stop the robot.
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*/
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AREXPORT void cancelGoal(void);
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/// Sets a new goal and sets the action to go there
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AREXPORT void setGoal(ArPose goal);
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/// Gets the goal the action has
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AREXPORT ArPose getGoal(void) { return myGoal; }
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/// Set the distance which is close enough to the goal (mm);
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AREXPORT void setCloseDist(double closeDist) { myCloseDist = closeDist; }
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/// Gets the distance which is close enough to the goal (mm)
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AREXPORT double getCloseDist(void) { return myCloseDist; }
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/// Sets the speed the action will travel to the goal at (mm/sec)
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AREXPORT void setSpeed(double speed) { mySpeed = speed; }
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/// Gets the speed the action will travel to the goal at (mm/sec)
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AREXPORT double getSpeed(void) { return mySpeed; }
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/** Called by the action resover; request movement towards goal if we
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* have one.
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* @param currentDesired Current desired action from the resolver
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*/
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AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
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/** Used by the action resolvel; return current desired action. */
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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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protected:
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ArPose myGoal;
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double myCloseDist;
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double mySpeed;
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double mySpeedToTurnAt;
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double myDirectionToTurn;
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double myCurTurnDir;
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double myTurnAmount;
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ArActionDesired myDesired;
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bool myTurnedBack;
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bool myPrinting;
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ArPose myOldGoal;
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enum State
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{
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STATE_NO_GOAL,
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STATE_ACHIEVED_GOAL,
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STATE_GOING_TO_GOAL
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};
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State myState;
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};
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#endif // ARACTIONGOTO
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