128 lines
4.8 KiB
C++
128 lines
4.8 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 ARACTIONGOTOSTRAIGHT_H
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#define ARACTIONGOTOSTRAIGHT_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 the robot when it has travelled the distance that that
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pose is away. It travels at 'speed' mm/sec.
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You can give it a new goal pose with setGoal(), cancel its movement
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with cancelGoal(), and see if it got there with haveAchievedGoal().
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For arguments to the goals and encoder goals you can tell it to go
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backwards by calling them with the backwards parameter true. If
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you set the justDistance to true it will only really care about
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having driven the distance, if false it'll try to get to the spot
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you wanted within close distance.
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This doesn't avoid obstacles or anything, you could add have an obstacle
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avoidance ArAction at a higher priority to try to do this. (For
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truly intelligent navigation, see the ARNL and SONARNL software libraries.)
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@ingroup ActionClasses
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**/
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class ArActionGotoStraight : public ArAction
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{
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public:
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AREXPORT ArActionGotoStraight(const char *name = "goto",
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double speed = 400);
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AREXPORT virtual ~ArActionGotoStraight();
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/// Sees if the goal has been achieved
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AREXPORT bool haveAchievedGoal(void);
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/// Cancels the goal the robot has
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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, bool backwards = false,
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bool justDistance = true);
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/// Sets the goal in a relative way
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AREXPORT void setGoalRel(double dist, double deltaHeading,
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bool backwards = false, bool justDistance = true);
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/// Gets the goal the action has
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ArPose getGoal(void) { return myGoal; }
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/// Gets whether we're using the encoder goal or the normal goal
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bool usingEncoderGoal(void) { return myUseEncoderGoal; }
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/// Sets a new goal and sets the action to go there
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AREXPORT void setEncoderGoal(ArPose encoderGoal, bool backwards = false,
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bool justDistance = true);
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/// Sets the goal in a relative way
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AREXPORT void setEncoderGoalRel(double dist, double deltaHeading,
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bool backwards = false,
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bool justDistance = true);
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/// Gets the goal the action has
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ArPose getEncoderGoal(void) { return myEncoderGoal; }
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/// Sets the speed the action will travel to the goal at (mm/sec)
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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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double getSpeed(void) { return mySpeed; }
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/// Sets how close we have to get if we're not in just distance mode
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void setCloseDist(double closeDist = 100) { myCloseDist = closeDist; }
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/// Gets how close we have to get if we're not in just distance mode
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double getCloseDist(void) { return myCloseDist; }
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/// Sets whether we're backing up there or not (set in the setGoals)
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bool getBacking(void) { return myBacking; }
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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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protected:
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ArPose myGoal;
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bool myUseEncoderGoal;
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ArPose myEncoderGoal;
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double mySpeed;
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bool myBacking;
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ArActionDesired myDesired;
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bool myPrinting;
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double myDist;
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double myCloseDist;
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bool myJustDist;
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double myDistTravelled;
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ArPose myLastPose;
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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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