100 lines
3.3 KiB
C++
100 lines
3.3 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 ARRATIOINPUTKEYDRIVE_H
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#define ARRATIOINPUTKEYDRIVE_H
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#include "ariaTypedefs.h"
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#include "ArAction.h"
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#include "ArFunctor.h"
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#include "ArActionRatioInput.h"
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/// This will use the keyboard arrow keys and the ArActionRatioInput to drive the robot
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/**
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You have to make an ArActionRatioInput and add it to the robot like
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a normal action for this to work.
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@ingroup OptionalClasses
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**/
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class ArRatioInputKeydrive
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{
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public:
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/// Constructor
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AREXPORT ArRatioInputKeydrive(ArRobot *robot, ArActionRatioInput *input,
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int priority = 25, double velIncrement = 5);
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/// Destructor
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AREXPORT virtual ~ArRatioInputKeydrive();
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/// Takes the keys this action wants to use to drive
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AREXPORT void takeKeys(void);
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/// Gives up the keys this action wants to use to drive
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AREXPORT void giveUpKeys(void);
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/// Internal, callback for up arrow
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AREXPORT void up(void);
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/// Internal, callback for down arrow
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AREXPORT void down(void);
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/// Internal, callback for z
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AREXPORT void z(void);
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/// Internal, callback for x
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AREXPORT void x(void);
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/// Internal, callback for left arrow
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AREXPORT void left(void);
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/// Internal, callback for right arrow
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AREXPORT void right(void);
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/// Internal, callback for space key
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AREXPORT void space(void);
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/// Internal, gets our firecb
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AREXPORT ArFunctor *getFireCB(void) { return &myFireCB; }
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protected:
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AREXPORT void activate(void);
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AREXPORT void deactivate(void);
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AREXPORT void fireCallback(void);
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ArFunctorC<ArRatioInputKeydrive> myUpCB;
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ArFunctorC<ArRatioInputKeydrive> myDownCB;
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ArFunctorC<ArRatioInputKeydrive> myLeftCB;
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ArFunctorC<ArRatioInputKeydrive> myRightCB;
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ArFunctorC<ArRatioInputKeydrive> myZCB;
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ArFunctorC<ArRatioInputKeydrive> myXCB;
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ArFunctorC<ArRatioInputKeydrive> mySpaceCB;
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double myPrinting;
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double myTransRatio;
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double myRotRatio;
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double myThrottle;
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double myLatRatio;
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ArRobot *myRobot;
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bool myHaveKeys;
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double myVelIncrement;
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double myLatVelIncrement;
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ArActionRatioInput *myInput;
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ArFunctorC<ArRatioInputKeydrive> myFireCB;
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ArFunctorC<ArRatioInputKeydrive> myActivateCB;
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ArFunctorC<ArRatioInputKeydrive> myDeactivateCB;
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};
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#endif // ARRATIOINPUTKEYDRIVE_H
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