ArActionTriangleDriveTo Class Reference

Action to drive up to a triangle target (e.g. docking station) found from an ArLineFinder. More...

#include <ArActionTriangleDriveTo.h>

Inherits ArAction.

Classes
class	Data
	This is for some internal debugging, don't try to use it, it won't work in windows (memory allocation issues). More...

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)
	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)
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
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)
virtual const ArActionDesired *	getDesired (void) const
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.
double	getIgnoreTriangleDist (void)
	Gets the distance to the triangle at which we start ignoring it.
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)
	Gets the state.
bool	getUseIgnoreInGotoVertexMode (void)
	Gets if we're ignoring the triangle in goto vertex mode.
bool	getUseLegacyVertexOffset (void)
	Gets if we are use the legacy vertex mode or not.
bool	getVertexSeen (void)
	Gets if we've seen the vertex ever for this attempted drive (it gets reset in searching, but that's the only time, so will only be set once an activation by default (unless setAcquire is called)
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	setIgnoreTriangleDist (double dist=250, bool useIgnoreInGotoVertexMode=false)
	Sets the distance to the triangle at which we start ignoring it.
void	setLineFinder (ArLineFinder *lineFinder)
	Sets the line finder to use.
void	setLogging (bool logging)
	Sets whether we're logging the driving or not.
bool	setLogging (void)
	Gets whether we're logging the driving or not.
void	setMaxAngleMisalignment (int maxAngleMisalignment=0)
	Sets the maximum angle misalignment from the robot to the triangle line.
void	setMaxDistBetweenLinePoints (int maxDistBetweenLinePoints=0)
	Sets the maximum distance between points in a line.
void	setMaxLateralDist (int maxLateralDist=0)
	Sets the maximum lateral distance from the robot to the triangle line.
void	setParameters (double finalDistFromVertex=400, double approachDistFromVertex=1000, double speed=200, double closeDist=100, double acquireTurnSpeed=30)
virtual void	setRobot (ArRobot *robot)
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	setUseLegacyVertexOffset (bool useLegacyVertexOffset)
	Sets if we should use the legacy vertex mode or not.
void	setVertexOffset (int localXOffset, int localYOffset, double thOffset)
	Sets the vertex offset.
void	setVertexUnseenStopMSecs (int vertexUnseenStopMSecs=4000)
	How long to keep going without having seen the vertex (0 is no timeout)
virtual	~ArActionTriangleDriveTo ()
	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	~ArAction ()
	Desructor.

Protected Member Functions
ArPose	findPoseFromVertex (double distFromVertex)
void	findTriangle (bool initial, bool goStraight=false)
	This finds our vertex point and angle from vertex. More...
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!)

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
double	myIgnoreTriangleDist
ArRangeDevice *	myLaser
double	myLine1Length
double	myLine2Length
ArLineFinder *	myLineFinder
std::map< int, ArLineFinderSegment * > *	myLines
int	myLocalXOffset
int	myLocalYOffset
int	myMaxAngleMisalignment
int	myMaxDistBetweenLinePoints
int	myMaxLateralDist
double	myOriginalAngle
bool	myOwnLineFinder
bool	myPrinting
bool	mySaveData
double	mySpeed
State	myState
double	myThOffset
bool	myTwoStageApproach
bool	myUseIgnoreInGoto
bool	myUseLegacyVertexOffset
ArPose	myVertex
bool	myVertexSeen
ArTime	myVertexSeenLast
int	myVertexUnseenStopMSecs
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.
Static Protected Attributes inherited from ArAction
static bool	ourDefaultActivationState = true

Detailed Description

Action to drive up to a triangle target (e.g. docking station) found from an ArLineFinder.

This action uses ArLineFinder to find continuous "lines" in laser range finder data that meet at an angle, forming the point of a triangular shape, towards which the robot is driven and aligned. If an ArLineFinder object is not given in the constructor, then it will search for an ArRangeDevice on the ArRobot with a name "laser" and create its own ArLineFinder object using that range device.

The parameters describing the shape of the triangle target may be set with setTriangleParams(). The default values are for a trianrgle target consisting of two lines of at least 254 mm. meeting at a 135 degree angle. This is the shape of the triangular target on docking stations. Targets also may easily be constructed out of any material well-sensed by the SICK Laser, such as wood, cardboard, or metal.

If setTwoStageApproach() is called with 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 called with 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 given 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().

Examples:

triangleDriveToActionExample.cpp.

Member Enumeration Documentation

State

enum ArActionTriangleDriveTo::State

Enumerator
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

Member Function Documentation

findTriangle()

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

protected

This finds our vertex point and angle from vertex.

difference between line1 and how long it should be

difference between line2 and how long it should be

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

• ArActionTriangleDriveTo.h
• ArActionTriangleDriveTo.cpp