Action that requests motion based on abstract ratios provided by diferent input sources. More...

#include <ArActionRatioInput.h>

Public Member Functions
virtual void	activate (void)

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. More...

void	addToConfig (ArConfig config, const char section)
	Adds to a section in a config.

	ArActionRatioInput (const char *name="RatioInput")
	Constructor. More...

virtual void	deactivate (void)

virtual ArActionDesired *	fire (ArActionDesired currentDesired)

virtual ArActionDesired *	getDesired (void)

virtual const ArActionDesired *	getDesired (void) const

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	setLatRatio (double latRatio)
	Sets the lat ratio (from -100 (one way) to 100 (the other)) More...

void	setParameters (double fullThrottleForwards, double fullThrottleBackwards, double rotAtFullForwards, double rotAtFullBackwards, double rotAtStopped, double latAtFullForwards=0, double latAtFullBackwards=0, double latAtStopped=0)
	Sets the parameters. More...

void	setRatios (double transRatio, double rotRatio, double throttleRatio, double latRatio=0)
	Set ratios. More...

void	setRotRatio (double rotRatio)
	Sets the rot ratio (from -100 (full right) to 100 (full left) More...

void	setThrottleRatio (double throttleRatio)
	Sets the throttle ratio (from 0 (stopped) to 100 (full throttle) More...

void	setTransRatio (double transRatio)
	Sets the trans ratio (from -100 (full backwards) to 100 (full forwards) More...

virtual	~ArActionRatioInput ()
	Destructor.

Public Member Functions inherited from ArAction
	ArAction (const char name, const char description="")
	Constructor.

virtual const ArArg *	getArg (int number) const
	Gets the numbered argument. More...

virtual ArArg *	getArg (int number)
	Gets the numbered argument.

virtual const char *	getDescription (void) const
	Gets the long description of the action.

virtual const char *	getName (void) const
	Gets the name of the action.

virtual int	getNumArgs (void) const
	Find the number of arguments this action takes.

ArRobot *	getRobot () const
	Get the robot we are controlling, which was set by setRobot()

virtual bool	isActive (void) const
	Returns whether the action is active or not.

virtual void	log (bool verbose=true) const
	Log information about this action using ArLog.

virtual void	setRobot (ArRobot *robot)
	Sets the robot this action is driving. More...

virtual	~ArAction ()
	Desructor.

Protected Attributes
std::list< ArFunctor * >	myActivateCallbacks

std::list< ArFunctor * >	myDeactivateCallbacks

ArActionDesired	myDesired

std::multimap< int, ArFunctor * >	myFireCallbacks

double	myFullThrottleBackwards

double	myFullThrottleForwards

double	myLatAtFullBackwards

double	myLatAtFullForwards

double	myLatAtStopped

double	myLatDeadZone

double	myLatRatio

bool	myPrinting

double	myRotAtFullBackwards

double	myRotAtFullForwards

double	myRotAtStopped

double	myRotDeadZone

double	myRotRatio

double	myThrottleRatio

double	myTransDeadZone

double	myTransRatio

Protected Attributes inherited from ArAction
std::map< int, ArArg >	myArgumentMap

std::string	myDescription

bool	myIsActive

std::string	myName

int	myNumArgs

ArRobot *	myRobot
	The robot we are controlling, set by the action resolver using setRobot()

Additional Inherited Members
Static Public Member Functions inherited from ArAction
static bool	getDefaultActivationState (void)
	Gets the default activation state for all ArActions.

static void	setDefaultActivationState (bool defaultActivationState)
	Sets the default activation state for all ArActions.

Protected Member Functions inherited from ArAction
void	setNextArgument (ArArg const &arg)
	Sets the argument type for the next argument (must only be used in a constructor!)

Static Protected Attributes inherited from ArAction
static bool	ourDefaultActivationState = true

Detailed Description

Action that requests motion based on abstract ratios provided by diferent input sources.

This action interprets input drive commands as three abstract ratios, translation, rotation, and throttle. (In this way it mimics many joysticks.) The translation speed input ranges from -100 to 100, where -100 requests maximum backwards speed, and 100 requests maximum forward speed, 0 requests no translational speed, and values in between request a linear percentage of the maximum. Similarly, rotation speed input ranges from -100 to 100, where -100 indicates maximum rightwards or clockwise rotation, 100 indicates maximum leftwards or counter-clockwise rotation, 0 requests no rotation, and values in between request a linear percentage of the maximum. The throttle input scales the other speed, and ranges from 0 (no motion) to 100 (maximum motion).

Seperate objects (e.g. ArRatioInputKeydrive, ArRatioInputJoydrive, ArRAtionInputRobotJoydrive) are used to provide input.

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

Configuration parameters are used to map the maximum ratios to actual robot speeds. These are set be default to the robot's maximum configured velocities at startup but you can override them with ArConfig parameters (and call addToConfig()) or setParameters().

See also: ArRatioInputKeydrive; ArRatioInputJoydrive; ArRatioInputRobotJoydrive

Constructor & Destructor Documentation

◆ ArActionRatioInput()

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

Constructor.

Parameters

name	name of the action

Member Function Documentation

◆ addFireCallback()

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.

◆ setLatRatio()

void ArActionRatioInput::setLatRatio ( double latRatio )

Sets the lat ratio (from -100 (one way) to 100 (the other))

This checks the input for greather than 100 and less than -100 and pulls it to within that range.

◆ setParameters()

void ArActionRatioInput::setParameters	(	double	fullThrottleForwards,
		double	fullThrottleBackwards,
		double	rotAtFullForwards,
		double	rotAtFullBackwards,
		double	rotAtStopped,
		double	latAtFullForwards = `0`,
		double	latAtFullBackwards = `0`,
		double	latAtStopped = `0`
	)

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 there is no forward/backward motion
rotAtFullForwards	the speed we turn at at full throttle forwards
latAtFullForwards	the lateral speed we go at at full throttle (mm/sec) (if robot supports lateral motion)
latAtFullBackwards	the lateral speed we go at at full throttle (mm/sec) (if robot supports lateral motion)
latAtStopped	the lateral speed we go at if stopped.

◆ setRatios()

void ArActionRatioInput::setRatios	(	double	transRatio,
		double	rotRatio,
		double	throttleRatio,
		double	latRatio = `0`
	)

Set ratios.

This checks the inputs and pulls them into the valid range.

◆ setRotRatio()

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.

◆ setThrottleRatio()

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.

◆ setTransRatio()

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.

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

ArActionRatioInput.h
ArActionRatioInput.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ArActionRatioInput()

Member Function Documentation

◆ addFireCallback()

◆ setLatRatio()

◆ setParameters()

◆ setRatios()

◆ setRotRatio()

◆ setThrottleRatio()

◆ setTransRatio()