ArActionTriangleDriveTo Class Reference

Action to drive up to a triange found from an ArLineFinder. More...

#include <ArActionTriangleDriveTo.h>

Inheritance diagram for ArActionTriangleDriveTo:

List of all members.

Public Types
enum	State {   STATE_INACTIVE, STATE_ACQUIRE, STATE_SEARCHING, STATE_GOTO_APPROACH,   STATE_ALIGN_APPROACH, STATE_GOTO_VERTEX, STATE_GOTO_FINAL, STATE_ALIGN_FINAL,   STATE_SUCCEEDED, STATE_FAILED }
Public Member Functions
virtual void	activate (void)
	Activate the action.
	ArActionTriangleDriveTo (const char *name="triangleDriveTo", double finalDistFromVertex=400, double approachDistFromVertex=1000, double speed=200, double closeDist=100, double acquireTurnSpeed=30)
	Constructor.
virtual void	deactivate (void)
	Deactivate the action.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
	Fires the action, returning what the action wants to do.
bool	getAcquire (void)
	Gets if we will turn to see if we can acquire the triangle.
bool	getAdjustVertex (void)
	Gets whether we adjust the vertex or not.
Data *	getData (void)
	Interal use only, gets the data we've saved.
virtual ArActionDesired *	getDesired (void)
	Gets what this action wants to do (for display purposes).
double	getFinalDistFromVertex (void)
	Sets the final distance from vertex.
bool	getGotoVertex (void)
	Gets whether it always goto the vertex and not the point in front.
ArLineFinder *	getLineFinder (void)
	Sets the line finder used.
bool	getSaveData (void)
	Internal use only, gets if we're saving data or not.
State	getState (void)
int	getVertexUnseenStopMSecs (void)
	How long to keep going without having seen the vertex (0 is no timeout).
void	setAcquire (bool acquire=false)
	Sets if we will turn to see if we can acquire the triangle.
void	setAdjustVertex (bool adjustVertex)
	Sets whether we adjust the vertex or not.
void	setFinalDistFromVertex (double dist)
	Sets the final distance from vertex.
void	setGotoVertex (bool gotoVertex)
	Sets whether it always goto the vertex and not the point in front.
void	setLineFinder (ArLineFinder *lineFinder)
	Sets the line finder to use.
bool	setLogging (void)
	Gets whether we're logging the driving or not.
void	setLogging (bool logging)
	Sets whether we're logging the driving or not.
void	setParameters (double finalDistFromVertex=400, double approachDistFromVertex=1000, double speed=200, double closeDist=100, double acquireTurnSpeed=30)
virtual void	setRobot (ArRobot *robot)
	Sets the robot this action is driving.
void	setSaveData (bool saveData)
	Internal use only, sets if we're saving data or not.
void	setTriangleParams (double line1Length=254, double angleBetween=135, double line2Length=254)
	Sets the parameter of the triangle we're looking for.
void	setVertexUnseenStopMSecs (int vertexUnseenStopMSecs=4000)
	How long to keep going without having seen the vertex (0 is no timeout).
virtual	~ArActionTriangleDriveTo ()
	Destructor.
Protected Member Functions
ArPose	findPoseFromVertex (double distFromVertex)
void	findTriangle (bool initial, bool goStraight=false)
Protected Attributes
bool	myAcquire
double	myAcquireTurnSpeed
bool	myAdjustVertex
double	myAngleBetween
double	myApproachDistFromVertex
double	myCloseDist
Data *	myData
ArMutex	myDataMutex
ArActionDesired	myDesired
double	myFinalDistFromVertex
unsigned int	myGotLinesCounter
bool	myGotoVertex
ArRangeDevice *	myLaser
double	myLine1Length
double	myLine2Length
ArLineFinder *	myLineFinder
std::map< int, ArLineFinderSegment * > *	myLines
bool	myOwnLineFinder
bool	myPrinting
bool	mySaveData
double	mySpeed
State	myState
bool	myTwoStageApproach
ArPose	myVertex
bool	myVertexSeen
ArTime	myVertexSeenLast
int	myVertexUnseenStopMSecs
Classes
class	Data

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Detailed Description

Action to drive up to a triange found from an ArLineFinder.

For setting up this action, by default what it will do is find an ArRangeDevice with the name of "laser" attached to the robot and make an ArLineFinder from that. You can also make an ArLineFinder and pass that to the class (you should do it before you do the addAction, but you don't have to).

This action will drive up to a triangle (the triangle description is set with setTriangleParams), it will first pick a triangle and then try to drive to that triangle. If setTwoStageApproach is true (default) it will first drive to a half meter away from the desired spot (distFromVertex from the point of the vertex along the bisection of the angle between segments) and then after it reachs that point it will turn in towards the vertex and drive to the final spot. If setTwoStageApproach is false it'll just drive to the final spot. It will stop at closeDist away unless a large turn is required where it'll stop 2 * closeDist away. It drives in at the speed in the constructor. If the robot is closer to the vertex than it should be for the approach it'll skip the approach, if the robot is closer to the vertex than to the final spot it will back up (if its facing away from the vertex it won't see the vertex).

If you want the action to drive straight to the vertex instead of to a point in front of it call setGotoVertex with a true argument... It will no longer do this if finalDistFromVertex is 0... you would do this if you want to drive until a bumper is hit for instance.

If you want the action to position using the front of the robot then use setPositionFront

Definition at line 67 of file ArActionTriangleDriveTo.h.

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Member Enumeration Documentation

enum ArActionTriangleDriveTo::State

Enumeration values: STATE_INACTIVE  we aren't trying STATE_ACQUIRE  finding the target STATE_SEARCHING  Turning trying to find the target. STATE_GOTO_APPROACH  driving to the approach point STATE_ALIGN_APPROACH  aligning to the target the first time STATE_GOTO_VERTEX  driving to the vertex STATE_GOTO_FINAL  driving to the final point STATE_ALIGN_FINAL  aligning to the target the final time STATE_SUCCEEDED  pointing at the target STATE_FAILED  if we're not acquiring and we lost the vertex we fail Definition at line 119 of file ArActionTriangleDriveTo.h.

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Member Function Documentation

void ArActionTriangleDriveTo::findTriangle (  bool  initial, bool  goStraight = false )  [protected]

This finds our vertex point and angle from vertex. Parameters: initial  if we're finding the initial vertex then we look for more in front of us than on the side and closer, if we're not finding the initial one we look more towards where we found it last time difference between line1 and how long it should be difference between line2 and how long it should be Definition at line 153 of file ArActionTriangleDriveTo.cpp. References ArMath::addAngle(), ArMath::cos(), ArRangeDevice::currentReadingBox(), ArTransform::doInvTransform(), ArTransform::doTransform(), ArMath::fabs(), ArPose::findAngleTo(), ArRobot::findDeltaHeadingTo(), ArPose::findDistanceTo(), ArUtil::findMax(), ArRobot::getCounter(), ArLineSegment::getDistToLine(), ArRobot::getEncoderTransform(), ArLineSegment::getEndPoint1(), ArLineFinder::getLines(), ArRobot::getPose(), ArRobot::getTh(), ArPose::getTh(), ArRobot::getToGlobalTransform(), ArRobot::getToLocalTransform(), ArPose::getX(), ArPose::getY(), ArLine::intersects(), ArMutex::lock(), ArLog::log(), ArLineSegment::newEndPoints(), ArActionTriangleDriveTo::Data::setLinesAndVertex(), ArPose::setPose(), ArPose::setTh(), ArTime::setToNow(), ArMath::sin(), ArMath::subAngle(), and ArMutex::unlock(). Referenced by fire().

ArActionDesired * ArActionTriangleDriveTo::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 442 of file ArActionTriangleDriveTo.cpp. References ArTransform::doTransform(), ArMath::fabs(), ArPose::findAngleTo(), ArRobot::findDeltaHeadingTo(), ArPose::findDistanceTo(), ArRobot::findDistanceTo(), findTriangle(), ArRobot::getEncoderTransform(), ArRobot::getPose(), ArRobot::getTh(), ArRobot::getVel(), ArMutex::lock(), ArLog::log(), ArTime::mSecSince(), ArActionDesired::reset(), ArActionTriangleDriveTo::Data::setApproach(), ArActionDesired::setDeltaHeading(), ArActionTriangleDriveTo::Data::setFinal(), ArActionDesired::setHeading(), ArActionDesired::setRotVel(), ArActionDesired::setVel(), STATE_ACQUIRE, STATE_ALIGN_APPROACH, STATE_ALIGN_FINAL, STATE_FAILED, STATE_GOTO_APPROACH, STATE_GOTO_FINAL, STATE_GOTO_VERTEX, STATE_INACTIVE, STATE_SEARCHING, STATE_SUCCEEDED, and ArMutex::unlock().

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

• ArActionTriangleDriveTo.h
• ArActionTriangleDriveTo.cpp

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