Contains values returned by ArAction objects expressing desired motion commands to resolver. More...

#include <ArActionDesired.h>

Public Member Functions
virtual void	accountForRobotHeading (double robotHeading)
	Accounts for robot heading, mostly internal. More...

virtual void	addAverage (ArActionDesired *actDesired)
	Adds another actionDesired into the mix to average. More...

	ArActionDesired ()
	Constructor.

virtual void	endAverage (void)
	Ends the process of avereraging together different desireds. More...

virtual double	getDeltaHeading (void) const
	Gets the delta heading desired (deg)

virtual double	getDeltaHeadingStrength (void) const
	Gets the strength of the delta heading desired.

virtual double	getHeading (void) const
	Gets the heading desired (deg)

virtual double	getHeadingStrength (void) const
	Gets the strength of the heading desired.

virtual double	getLatAccel (void) const
	Gets the desired lateral acceleration (mm/sec)

virtual double	getLatAccelSlowestUsed (void) const
	Gets whether the slowest lat accel is being used or not.

virtual double	getLatAccelStrength (void) const
	Gets the desired lateral acceleration strength.

virtual double	getLatDecel (void) const
	Gets the desired lateral deceleration (-mm/sec/sec)

virtual double	getLatDecelFastestUsed (void) const
	Gets whether the fastest lat decel is being used or not.

virtual double	getLatDecelStrength (void) const
	Gets the desired lateral deceleration strength.

virtual double	getLatVel (void) const
	Gets the lat vel that was set.

virtual double	getLatVelStrength (void) const
	Gets the lat vel des (deg/sec)

virtual double	getMaxLeftLatVel (void) const
	Gets the maximum lateral velocity.

virtual double	getMaxLeftLatVelSlowestUsed (void) const
	Gets whether the slowest lat vel is being used or not.

virtual double	getMaxLeftLatVelStrength (void) const
	Gets the maximum lateral velocity strength.

virtual double	getMaxNegVel (void) const
	Gets the desired maximum negative velocity (-mm/sec)

virtual double	getMaxNegVelSlowestUsed (void) const
	Gets whether the slowest is being used or not.

virtual double	getMaxNegVelStrength (void) const
	Gets the desired maximum negative velocity strength.

virtual double	getMaxRightLatVel (void) const
	Gets the maximum lateral velocity.

virtual double	getMaxRightLatVelSlowestUsed (void) const
	Gets whether the slowest lat vel is being used or not.

virtual double	getMaxRightLatVelStrength (void) const
	Gets the maximum lateral velocity strength.

virtual double	getMaxRotVel (void) const
	Gets the maximum rotational velocity.

virtual double	getMaxRotVelNeg (void) const
	Gets the maximum rotational velocity in the negative direction.

virtual double	getMaxRotVelNegSlowestUsed (void) const
	Gets whether the slowest rot vel in the negative direction is being used or not.

virtual double	getMaxRotVelNegStrength (void) const
	Gets the maximum rotational velocity in the negative direction strength.

virtual double	getMaxRotVelPos (void) const
	Gets the maximum rotational velocity in the positive direction.

virtual double	getMaxRotVelPosSlowestUsed (void) const
	Gets whether the slowest rot vel in the positive direction is being used or not.

virtual double	getMaxRotVelPosStrength (void) const
	Gets the maximum rotational velocity in the positive direction strength.

virtual double	getMaxRotVelSlowestUsed (void) const
	Gets whether the slowest rot vel is being used or not.

virtual double	getMaxRotVelStrength (void) const
	Gets the maximum rotational velocity strength.

virtual double	getMaxVel (void) const
	Gets the desired maximum velocity (mm/sec)

virtual double	getMaxVelSlowestUsed (void) const
	Gets whether the slowest is being used or not.

virtual double	getMaxVelStrength (void) const
	Gets the maximum velocity strength.

virtual double	getRotAccel (void) const
	Gets the desired rotational acceleration (mm/sec)

virtual double	getRotAccelSlowestUsed (void) const
	Gets whether the slowest rot accel is being used or not.

virtual double	getRotAccelStrength (void) const
	Gets the desired rotational acceleration strength.

virtual double	getRotDecel (void) const
	Gets the desired rotational deceleration (-mm/sec/sec)

virtual double	getRotDecelFastestUsed (void) const
	Gets whether the fastest rot decel is being used or not.

virtual double	getRotDecelStrength (void) const
	Gets the desired rotational deceleration strength.

virtual double	getRotVel (void) const
	Gets the rot vel that was set.

virtual double	getRotVelStrength (void) const
	Gets the rot vel des (deg/sec)

virtual double	getTransAccel (void) const
	Gets the desired trans acceleration (mm/sec)

virtual double	getTransAccelSlowestUsed (void) const
	Gets whether the slowest accel is being used or not.

virtual double	getTransAccelStrength (void) const
	Gets the desired trans acceleration strength.

virtual double	getTransDecel (void) const
	Gets the desired trans deceleration (-mm/sec/sec)

virtual double	getTransDecelFastestUsed (void) const
	Gets whether the fastest decel is being used or not.

virtual double	getTransDecelStrength (void) const
	Gets the desired trans deceleration strength.

virtual double	getVel (void) const
	Gets the translational velocity desired (mm/sec)

virtual double	getVelStrength (void) const
	Gets the strength of the translational velocity desired.

virtual bool	isAnythingDesired (void) const
	Gets whether anything is desired (should only really be used in relation to logging)

virtual void	log (void) const
	Logs what is desired.

virtual void	merge (ArActionDesired *actDesired)
	Merges the given ArActionDesired into this one (this one has precedence), internal. More...

virtual void	reset (void)
	Resets the strengths to 0.

virtual void	sanityCheck (const char *actionName)
	Do a sanity check on the action (this is set up this way so the action name can be passed in)

virtual void	setDeltaHeading (double deltaHeading, double strength=MAX_STRENGTH)
	Sets the delta heading (deg) and strength. More...

virtual void	setHeading (double heading, double strength=MAX_STRENGTH)
	Sets the absolute heading (deg) More...

virtual void	setLatAccel (double latAccel, double strength=MAX_STRENGTH, bool useSlowest=true)
	Sets the lateral acceleration (deg/sec/sec) and strength. More...

virtual void	setLatDecel (double latDecel, double strength=MAX_STRENGTH, bool useFastest=true)
	Sets the lateral deceleration (deg/sec/sec) and strength. More...

virtual void	setLeftLatVel (double latVel, double strength=MAX_STRENGTH)
	Sets the left lateral velocity (mm/sec) and strength. More...

virtual void	setMaxLeftLatVel (double maxVel, double strength=MAX_STRENGTH, bool useSlowest=true)
	Sets the maximum lateral velocity (deg/sec) and strength. More...

virtual void	setMaxNegVel (double maxVel, double strength=MAX_STRENGTH, bool useSlowest=true)
	Sets the maximum velocity for going backwards (-mm/sec) and strength. More...

virtual void	setMaxRightLatVel (double maxVel, double strength=MAX_STRENGTH, bool useSlowest=true)
	Sets the maximum lateral velocity (deg/sec) and strength. More...

virtual void	setMaxRotVel (double maxVel, double strength=MAX_STRENGTH, bool useSlowest=true)
	Sets the maximum rotational velocity (deg/sec) and strength. More...

virtual void	setMaxRotVelNeg (double maxVel, double strength=MAX_STRENGTH, bool useSlowest=true)
	Sets the maximum rotational velocity (deg/sec) in the negative direction and strength. More...

virtual void	setMaxRotVelPos (double maxVel, double strength=MAX_STRENGTH, bool useSlowest=true)
	Sets the maximum rotational velocity (deg/sec) in the positive direction and strength. More...

virtual void	setMaxVel (double maxVel, double strength=MAX_STRENGTH, bool useSlowest=true)
	Sets the maximum velocity (+mm/sec) and strength. More...

virtual void	setRightLatVel (double latVel, double strength=MAX_STRENGTH)
	Sets the right lateral velocity (mm/sec) and strength. More...

virtual void	setRotAccel (double rotAccel, double strength=MAX_STRENGTH, bool useSlowest=true)
	Sets the rotational acceleration (deg/sec/sec) and strength. More...

virtual void	setRotDecel (double rotDecel, double strength=MAX_STRENGTH, bool useFastest=true)
	Sets the rotational deceleration (deg/sec/sec) and strength. More...

virtual void	setRotVel (double rotVel, double strength=MAX_STRENGTH)
	Sets the rotational velocity. More...

virtual void	setTransAccel (double transAccel, double strength=MAX_STRENGTH, bool useSlowest=true)
	Sets the translation acceleration (deg/sec/sec) and strength. More...

virtual void	setTransDecel (double transDecel, double strength=MAX_STRENGTH, bool useFastestDecel=true)
	Sets the translation deceleration (deg/sec/sec) and strength. More...

virtual void	setVel (double vel, double strength=MAX_STRENGTH)
	Sets the velocity (mm/sec) and strength. More...

virtual void	startAverage (void)
	Starts the process of avereraging together different desireds. More...

virtual	~ArActionDesired ()
	Destructor.

Static Public Attributes
static const double	MAX_STRENGTH = 1.0

static const double	MIN_STRENGTH = .000001

static const double	NO_STRENGTH = 0.0

Protected Attributes
ArActionDesiredChannel	myDeltaHeadingDes

double	myHeading

bool	myHeadingSet

double	myHeadingStrength

ArActionDesiredChannel	myLatAccelDes

ArActionDesiredChannel	myLatDecelDes

ArActionDesiredChannel	myLatVelDes

ArActionDesiredChannel	myMaxLeftLatVelDes

ArActionDesiredChannel	myMaxNegVelDes

ArActionDesiredChannel	myMaxRightLatVelDes

ArActionDesiredChannel	myMaxRotVelDes

ArActionDesiredChannel	myMaxRotVelNegDes

ArActionDesiredChannel	myMaxRotVelPosDes

ArActionDesiredChannel	myMaxVelDes

ArActionDesiredChannel	myRotAccelDes

ArActionDesiredChannel	myRotDecelDes

ArActionDesiredChannel	myRotVelDes

ArActionDesiredChannel	myTransAccelDes

ArActionDesiredChannel	myTransDecelDes

ArActionDesiredChannel	myVelDes

Detailed Description

Contains values returned by ArAction objects expressing desired motion commands to resolver.

This class is use by actions to report what want movement commands they want. The action resolver combines the ArActionDesired objects returned by different actions.

A brief summary follows. For a fuller explanation of actions, see Actions.

Different values are organized into different "channels". Translational (front/back) and rotational (right/left) movements are separate channels. Translational movement uses velocity, while rotational movement uses change in heading from current heading. Each channel has a strength value. Both translational and rotational movement have maximum velocities as well, that also have their own strengths.

The strength value reflects how strongly an action wants to do the chosen movement command, the resolver (ArResolver) will combine these strengths and figure out what to do based on them.

For all strength values there is a total of 1.0 combined strength avaliable. The range for strength is from 0 to 1. This is simply a convention that ARIA uses by default, if you don't like it, you could override this class the ArResolver class.

Note that for the different maximum/accel/decel values they take an additional argument of whether just to use the slowest speed, slowest accel, or fastest decel. By default these will just use safer values (slowest speed, slowest accel, fastest decel)... you can specify false on these for the old behavior. Note that if you're safest values then the strength is largely ignored though it is still tracked and must still be greater than MIN_STRENGTH to work and it is still capped at MAX_STRENGTH).

See also: Actions

Examples:: actionExample.cpp, actsColorFollowingExample.cpp, and joydriveActionExample.cpp.

Member Function Documentation

◆ accountForRobotHeading()

virtual void ArActionDesired::accountForRobotHeading ( double robotHeading )

inlinevirtual

Accounts for robot heading, mostly internal.

This accounts for the robots heading, and transforms the set heading on this actionDesired into a delta heading so it can be merged and averaged and the like

Parameters

robotHeading the heading the real actual robot is at now

◆ addAverage()

virtual void ArActionDesired::addAverage ( ArActionDesired * actDesired )

inlinevirtual

Adds another actionDesired into the mix to average.

For a description of how to use this, see startAverage.

Parameters

actDesired the actionDesired to add into the average

◆ endAverage()

virtual void ArActionDesired::endAverage ( void )

inlinevirtual

Ends the process of avereraging together different desireds.

For a description of how to use this, see startAverage.

◆ merge()

virtual void ArActionDesired::merge ( ArActionDesired * actDesired )

inlinevirtual

Merges the given ArActionDesired into this one (this one has precedence), internal.

This merges in the two different action values, accountForRobotHeading MUST be done before this is called (on both actions), since this merges their delta headings, and the deltas can't be known unless the account for angle is done.

Parameters

actDesired the actionDesired to merge with this one

◆ setDeltaHeading()

virtual void ArActionDesired::setDeltaHeading	(	double	deltaHeading,
		double	strength = `MAX_STRENGTH`
	)

inlinevirtual

Sets the delta heading (deg) and strength.

If there's already a rotVel set this WILL NOT work.

Parameters

deltaHeading	desired change in heading (deg)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)

◆ setHeading()

virtual void ArActionDesired::setHeading	(	double	heading,
		double	strength = `MAX_STRENGTH`
	)

inlinevirtual

Sets the absolute heading (deg)

If there's already a rotVel set this WILL NOT work. This is a way to set the heading instead of using a delta, there is no get for this, because accountForRobotHeading MUST be called (this should be called by all resolvers, but if you want to call it you can, thats fine).

Parameters

heading	desired heading (deg)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)

◆ setLatAccel()

virtual void ArActionDesired::setLatAccel	(	double	latAccel,
		double	strength = `MAX_STRENGTH`,
		bool	useSlowest = `true`
	)

inlinevirtual

Sets the lateral acceleration (deg/sec/sec) and strength.

This sets the lateral acceleration for this cycle (this is sent down to the robot). Check the ArRobot class notes for more details.

Parameters

latAccel	desired lateral acceleration (deg/sec/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)
useSlowest	if this is true (the default) everywhere then the slowest lat accel is what will be selected

◆ setLatDecel()

virtual void ArActionDesired::setLatDecel	(	double	latDecel,
		double	strength = `MAX_STRENGTH`,
		bool	useFastest = `true`
	)

inlinevirtual

Sets the lateral deceleration (deg/sec/sec) and strength.

This sets the lateral deceleration for this cycle (this is sent down to the robot). Check the ArRobot class notes for more details.

Parameters

latDecel	desired lateral deceleration (deg/sec/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)
useFastest	if this is true (the default) everywhere then the fastest lat decel is what will be selected

◆ setLeftLatVel()

virtual void ArActionDesired::setLeftLatVel	(	double	latVel,
		double	strength = `MAX_STRENGTH`
	)

inlinevirtual

Sets the left lateral velocity (mm/sec) and strength.

Note that there is only one actual velocity for lat vel, but instead of making people remember which way is left and right there are two functions, setLeftLatVel and setRightLatVel... all setRightLatVel does is flip the direction on the vel. You can set a negative left lat vel and thats the same as setting a positive right vel. You can do the same with setting a negative right vel to get a positive left vel.

Parameters

latVel	desired vel (mm/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)

◆ setMaxLeftLatVel()

virtual void ArActionDesired::setMaxLeftLatVel	(	double	maxVel,
		double	strength = `MAX_STRENGTH`,
		bool	useSlowest = `true`
	)

inlinevirtual

Sets the maximum lateral velocity (deg/sec) and strength.

This sets the maximum lateral velocity for this cycle. Check the ArRobot class notes for more details.

Parameters

maxVel	desired maximum lateral velocity (deg/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)
useSlowest	if this is true (the default) everywhere then the slowest lat vel is what will be selected

◆ setMaxNegVel()

virtual void ArActionDesired::setMaxNegVel	(	double	maxVel,
		double	strength = `MAX_STRENGTH`,
		bool	useSlowest = `true`
	)

inlinevirtual

Sets the maximum velocity for going backwards (-mm/sec) and strength.

This sets the maximum negative velocity for this cycle. Check the ArRobot class notes for more details.

Parameters

maxVel	desired maximum velocity for going backwards (-mm/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)
useSlowest	if this is true (the default) everywhere then the slowest max neg vel is what will be selected

◆ setMaxRightLatVel()

virtual void ArActionDesired::setMaxRightLatVel	(	double	maxVel,
		double	strength = `MAX_STRENGTH`,
		bool	useSlowest = `true`
	)

inlinevirtual

Sets the maximum lateral velocity (deg/sec) and strength.

This sets the maximum lateral velocity for this cycle. Check the ArRobot class notes for more details.

Parameters

maxVel	desired maximum lateral velocity (deg/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)
useSlowest	if this is true (the default) everywhere then the slowest lat vel is what will be selected

◆ setMaxRotVel()

virtual void ArActionDesired::setMaxRotVel	(	double	maxVel,
		double	strength = `MAX_STRENGTH`,
		bool	useSlowest = `true`
	)

inlinevirtual

Sets the maximum rotational velocity (deg/sec) and strength.

This sets the maximum rotational velocity for this cycle (this is sent down to the robot). Check the ArRobot class notes for more details.

Parameters

maxVel	desired maximum rotational velocity (deg/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)
useSlowest	if this is true (the default) everywhere then the slowest rot vel is what will be selected

◆ setMaxRotVelNeg()

virtual void ArActionDesired::setMaxRotVelNeg	(	double	maxVel,
		double	strength = `MAX_STRENGTH`,
		bool	useSlowest = `true`
	)

inlinevirtual

Sets the maximum rotational velocity (deg/sec) in the negative direction and strength.

This sets the maximum rotational velocity for this cycle (this is sent down to the robot) in the negative direction. If the setMaxRotVel is set to less than this that will be used instead. Check the ArRobot class notes for more details.

Parameters

maxVel	desired maximum rotational velocity in the negative direction (deg/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)
useSlowest	if this is true (the default) everywhere then the slowest rot vel is what will be selected

◆ setMaxRotVelPos()

virtual void ArActionDesired::setMaxRotVelPos	(	double	maxVel,
		double	strength = `MAX_STRENGTH`,
		bool	useSlowest = `true`
	)

inlinevirtual

Sets the maximum rotational velocity (deg/sec) in the positive direction and strength.

This sets the maximum rotational velocity for this cycle (this is sent down to the robot) in the positive direction. If the setMaxRotVel is set to less than this that will be used instead. Check the ArRobot class notes for more details.

Parameters

maxVel	desired maximum rotational velocity in the positive direction (deg/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)
useSlowest	if this is true (the default) everywhere then the slowest rot vel is what will be selected

◆ setMaxVel()

virtual void ArActionDesired::setMaxVel	(	double	maxVel,
		double	strength = `MAX_STRENGTH`,
		bool	useSlowest = `true`
	)

inlinevirtual

Sets the maximum velocity (+mm/sec) and strength.

This sets the maximum positive velocity for this cycle. Check the ArRobot class notes for more details.

Parameters

maxVel	desired maximum velocity (+mm/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)
useSlowest	if this is true (the default) everywhere then the slowest maximum vel is what will be selected

◆ setRightLatVel()

virtual void ArActionDesired::setRightLatVel	(	double	latVel,
		double	strength = `MAX_STRENGTH`
	)

inlinevirtual

Sets the right lateral velocity (mm/sec) and strength.

Note that there is only one actual velocity for lat vel, but instead of making people remember which way is left and right there are two functions, setLeftLatVel and setRightLatVel... all setRightLatVel does is flip the direction on the vel. You can set a negative left lat vel and thats the same as setting a positive right vel. You can do the same with setting a negative right vel to get a positive left vel.

Parameters

latVel	desired vel (mm/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)

◆ setRotAccel()

virtual void ArActionDesired::setRotAccel	(	double	rotAccel,
		double	strength = `MAX_STRENGTH`,
		bool	useSlowest = `true`
	)

inlinevirtual

Sets the rotational acceleration (deg/sec/sec) and strength.

This sets the rotational acceleration for this cycle (this is sent down to the robot). Check the ArRobot class notes for more details.

Parameters

rotAccel	desired rotational acceleration (deg/sec/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)
useSlowest	if this is true (the default) everywhere then the slowest rot accel is what will be selected

◆ setRotDecel()

virtual void ArActionDesired::setRotDecel	(	double	rotDecel,
		double	strength = `MAX_STRENGTH`,
		bool	useFastest = `true`
	)

inlinevirtual

Sets the rotational deceleration (deg/sec/sec) and strength.

This sets the rotational deceleration for this cycle (this is sent down to the robot). Check the ArRobot class notes for more details.

Parameters

rotDecel	desired rotational deceleration (deg/sec/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)
useFastest	if this is true (the default) everywhere then the fastest rot decel is what will be selected

◆ setRotVel()

virtual void ArActionDesired::setRotVel	(	double	rotVel,
		double	strength = `MAX_STRENGTH`
	)

inlinevirtual

Sets the rotational velocity.

If there's already a delta heading or heading this WILL NOT work.

Parameters

rotVel	desired rotational velocity (deg/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)

◆ setTransAccel()

virtual void ArActionDesired::setTransAccel	(	double	transAccel,
		double	strength = `MAX_STRENGTH`,
		bool	useSlowest = `true`
	)

inlinevirtual

Sets the translation acceleration (deg/sec/sec) and strength.

This sets the translation acceleration for this cycle (this is sent down to the robot). Check the ArRobot class notes for more details.

Parameters

transAccel	desired translation acceleration (deg/sec/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)
useSlowest	if this is true (the default) everywhere then the slowest accel is what will be selected

◆ setTransDecel()

virtual void ArActionDesired::setTransDecel	(	double	transDecel,
		double	strength = `MAX_STRENGTH`,
		bool	useFastestDecel = `true`
	)

inlinevirtual

Sets the translation deceleration (deg/sec/sec) and strength.

This sets the translation deceleration for this cycle (this is sent down to the robot). Check the ArRobot class notes for more details.

Parameters

transDecel	desired translation deceleration (deg/sec/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)
useFastestDecel	if this is true (the default) everywhere then the fastest decel is what will be selected

◆ setVel()

virtual void ArActionDesired::setVel	(	double	vel,
		double	strength = `MAX_STRENGTH`
	)

inlinevirtual

Sets the velocity (mm/sec) and strength.

Parameters

vel	desired vel (mm/sec)
strength	strength given to this, defaults to MAX_STRENGTH (1.0)

◆ startAverage()

virtual void ArActionDesired::startAverage ( void )

inlinevirtual

Starts the process of avereraging together different desireds.

There is a three step process for averaging actionDesireds together, first startAverage must be done to set up the process, then addAverage must be done with each average that is desired, then finally endAverage should be used, after that is done then the normal process of getting the results out should be done.

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

ArActionDesired.h
ArActionDesired.cpp

Public Member Functions

Static Public Attributes

Protected Attributes

Detailed Description

Member Function Documentation

◆ accountForRobotHeading()

◆ addAverage()

◆ endAverage()

◆ merge()

◆ setDeltaHeading()

◆ setHeading()

◆ setLatAccel()

◆ setLatDecel()

◆ setLeftLatVel()

◆ setMaxLeftLatVel()

◆ setMaxNegVel()

◆ setMaxRightLatVel()

◆ setMaxRotVel()

◆ setMaxRotVelNeg()

◆ setMaxRotVelPos()

◆ setMaxVel()

◆ setRightLatVel()

◆ setRotAccel()

◆ setRotDecel()

◆ setRotVel()

◆ setTransAccel()

◆ setTransDecel()

◆ setVel()

◆ startAverage()