ArActionRatioInput Class Reference

Takes input on how to drive a robot in a more speed independent manner. More...

#include <ArActionRatioInput.h>

Inheritance diagram for ArActionRatioInput:

List of all members.

Public Member Functions
virtual void	activate (void)
	Activate the action.
void	addActivateCallback (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback that is called when this action is activated.
void	addDeactivateCallback (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback that is called when this action is deactivated.
void	addFireCallback (int priority, ArFunctor *functor)
	Adds a callback that is called from this actions fire call.
void	addToConfig (ArConfig *config, const char *section)
	Adds to a section in a config.
	ArActionRatioInput (const char *name="RatioInput")
	Constructor.
virtual void	deactivate (void)
	Deactivate the action.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
	Fires the action, returning what the action wants to do.
virtual ArActionDesired *	getDesired (void)
	Gets what this action wants to do (for display purposes).
double	getRotRatio (void)
	Gets the rot ratio (from -100 (full right) to 100 (full left).
double	getThrottleRatio (void)
	Gets the throttle ratio (from 0 (stopped) to 100 (full throttle).
double	getTransRatio (void)
	Gets the trans ratio (from -100 (full backwards) to 100 (full forwards).
void	remActivateCallback (ArFunctor *functor)
	Removes a callback that was called when this action is activated.
void	remDeactivateCallback (ArFunctor *functor)
	Removes a callback that was called when this action is deactivated.
void	remFireCallback (ArFunctor *functor)
	Removes a callback that was called from this actions fire callback.
void	setParameters (double fullThrottleForwards, double fullThrottleBackwards, double rotAtFullForwards, double rotAtFullBackwards, double rotAtStopped)
	Sets the parameters.
void	setRatios (double transRatio, double rotRatio, double throttleRatio)
	Set ratios.
void	setRotRatio (double rotRatio)
	Sets the rot ratio (from -100 (full right) to 100 (full left).
void	setThrottleRatio (double throttleRatio)
	Sets the throttle ratio (from 0 (stopped) to 100 (full throttle).
void	setTransRatio (double transRatio)
	Sets the trans ratio (from -100 (full backwards) to 100 (full forwards).
virtual	~ArActionRatioInput ()
	Destructor.
Protected Attributes
std::list< ArFunctor * >	myActivateCallbacks
std::list< ArFunctor * >	myDeactivateCallbacks
ArActionDesired	myDesired
std::multimap< int, ArFunctor * >	myFireCallbacks
double	myFullThrottleBackwards
double	myFullThrottleForwards
bool	myPrinting
double	myRotAtFullBackwards
double	myRotAtFullForwards
double	myRotAtStopped
double	myRotDeadZone
double	myRotRatio
double	myThrottleRatio
double	myTransDeadZone
double	myTransRatio

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Detailed Description

Takes input on how to drive a robot in a more speed independent manner.

This will drive in ratios, and is really set up to mimic a joystick, with 3 ratios, translational which goes from -100 to 100 (backwards to forwards), rotation, which goes from -100 to 100 (right to left), and throttle which goes from 0 to 100 (stopped to as fast as the robot will go).

When this action is activated it resets all its input ratios to 0 (including throttle).

This will use the parameters on the throttle to control the speed, these are set relative to the robot's maxes at startup but you can override them with the configuration (after doing an addToConfig) or with setParameters.

See also:

ArRatioInputKeydrive

ArRatioInputJoydrive

ArRatioInputRobotJoydrive

Definition at line 53 of file ArActionRatioInput.h.

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Constructor & Destructor Documentation

ArActionRatioInput::ArActionRatioInput (  const char *  name = "RatioInput"  )

Constructor. Parameters: name  name of the action Definition at line 34 of file ArActionRatioInput.cpp.

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Member Function Documentation

void ArActionRatioInput::addFireCallback (  int  priority, ArFunctor *  functor )

Adds a callback that is called from this actions fire call. These callbacks are actually called in the order of lowest number to highest number, but this still means higher numbers are more important since throttle set by those will override the lower. Definition at line 176 of file ArActionRatioInput.cpp. Referenced by ArRatioInputJoydrive::ArRatioInputJoydrive(), ArRatioInputKeydrive::ArRatioInputKeydrive(), and ArRatioInputRobotJoydrive::ArRatioInputRobotJoydrive().

ArActionDesired * ArActionRatioInput::fire (  ArActionDesired  currentDesired  )  [virtual]

Fires the action, returning what the action wants to do. Parameters: currentDesired  this is what the current resolver has for its desired, this is SOLELY for the purpose of giving information to the action Returns: pointer to what this action wants to do, NULL if it wants to do nothing Implements ArAction. Definition at line 267 of file ArActionRatioInput.cpp. References ArRobot::getRotDecel(), ArRobot::getRotVel(), ArActionDesired::getRotVel(), ArRobot::getRotVelMax(), ArRobot::getTransDecel(), ArRobot::getTransVelMax(), ArActionDesired::getVel(), ArRobot::getVel(), ArActionDesired::reset(), ArActionDesired::setRotDecel(), ArActionDesired::setRotVel(), ArActionDesired::setTransDecel(), and ArActionDesired::setVel().

void ArActionRatioInput::setParameters (  double  fullThrottleForwards, double  fullThrottleBackwards, double  rotAtFullForwards, double  rotAtFullBackwards, double  rotAtStopped )

Sets the parameters. Parameters: fullThrottleForwards  the speed we go forwards at at full throttle (mm/sec) fullThrottleBackwards  the speed we go backwards at at full throttle (mm/sec) rotAtFullForwards  the speed we turn at at full throttle forwards rotAtFullBackwards  the speed we turn at at full throttle backwards rotAtStopped  the speed we turn at if we're stopped Definition at line 158 of file ArActionRatioInput.cpp.

void ArActionRatioInput::setRatios (  double  transRatio, double  rotRatio, double  throttleRatio )

Set ratios. This checks the inputs and pulls them into the valid range. Definition at line 94 of file ArActionRatioInput.cpp. References setRotRatio(), setThrottleRatio(), and setTransRatio().

void ArActionRatioInput::setRotRatio (  double  rotRatio  )

Sets the rot ratio (from -100 (full right) to 100 (full left). This checks the input for greather than 100 and less than -100 and pulls it to within that range. Definition at line 121 of file ArActionRatioInput.cpp. Referenced by setRatios().

void ArActionRatioInput::setThrottleRatio (  double  throttleRatio  )

Sets the throttle ratio (from 0 (stopped) to 100 (full throttle). This checks the input for greather than 100 and less than 0 and pulls it to within that range. Definition at line 135 of file ArActionRatioInput.cpp. Referenced by setRatios().

void ArActionRatioInput::setTransRatio (  double  transRatio  )

Sets the trans ratio (from -100 (full backwards) to 100 (full forwards). This checks the input for greather than 100 and less than -100 and pulls it to within that range. Definition at line 107 of file ArActionRatioInput.cpp. Referenced by setRatios().

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The documentation for this class was generated from the following files:

• ArActionRatioInput.h
• ArActionRatioInput.cpp

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