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ArActionDesired Class Reference

#include <ArActionDesired.h>

List of all members.

Detailed Description

Class used to say what movement is desired.

This class is use by actions to report what they want to want to do (hence the name).

The way it works, is that translational (front/back) and rotational (right/left) are separate. Translational movement uses velocity, while rotational movement uses change in heading from current heading. Translational and rotational each have their own 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 strength to be had. 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 can override this class and make an ArResolver.

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).

Examples:

actionExample.cpp, actsColorFollowingExample.cpp, and joydriveActionExample.cpp.

Definition at line 183 of file ArActionDesired.h.

Public Member Functions

virtual void accountForRobotHeading (double robotHeading)
 Accounts for robot heading, mostly internal.
virtual void addAverage (ArActionDesired *actDesired)
 Adds another actionDesired into the mix to average.
 ArActionDesired ()
 Constructor.
virtual void endAverage (void)
 Ends the process of avereraging together different desireds.
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 getMaxAccelSlowestUsed (void) const
 Gets whether the slowest rot accel is being used or not.
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 getMaxRotVel (void) const
 Gets the maximum rotational velocity.
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 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)
virtual void reset (void)
 Resets the strengths to 0.
virtual void setDeltaHeading (double deltaHeading, double strength=MAX_STRENGTH)
 Sets the delta heading (deg) and strength.
virtual void setHeading (double heading, double strength=MAX_STRENGTH)
 Sets the absolute heading (deg).
virtual void setMaxNegVel (double maxVel, double strength=MAX_STRENGTH, bool useSlowest=true)
 Sets the maximum velocity for going backwards (-mm/sec) and strength.
virtual void setMaxRotVel (double maxVel, double strength=MAX_STRENGTH, bool useSlowest=true)
 Sets the maximum rotational velocity (deg/sec) and strength.
virtual void setMaxVel (double maxVel, double strength=MAX_STRENGTH, bool useSlowest=true)
 Sets the maximum velocity (+mm/sec) and strength.
virtual void setRotAccel (double rotAccel, double strength=MAX_STRENGTH, bool useSlowest=true)
 Sets the rotational acceleration (deg/sec/sec) and strength.
virtual void setRotDecel (double rotDecel, double strength=MAX_STRENGTH, bool useFastest=true)
 Sets the rotational deceleration (deg/sec/sec) and strength.
virtual void setRotVel (double rotVel, double strength=MAX_STRENGTH)
 Sets the rotational velocity.
virtual void setTransAccel (double transAccel, double strength=MAX_STRENGTH, bool useSlowest=true)
 Sets the translation acceleration (deg/sec/sec) and strength.
virtual void setTransDecel (double transDecel, double strength=MAX_STRENGTH, bool useFastestDecel=true)
 Sets the translation deceleration (deg/sec/sec) and strength.
virtual void setVel (double vel, double strength=MAX_STRENGTH)
 Sets the velocity (mm/sec) and strength.
virtual void startAverage (void)
 Starts the process of avereraging together different desireds.
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 myMaxNegVelDes
ArActionDesiredChannel myMaxRotVelDes
ArActionDesiredChannel myMaxVelDes
ArActionDesiredChannel myRotAccelDes
ArActionDesiredChannel myRotDecelDes
ArActionDesiredChannel myRotVelDes
ArActionDesiredChannel myTransAccelDes
ArActionDesiredChannel myTransDecelDes
ArActionDesiredChannel myVelDes

Member Function Documentation

virtual void ArActionDesired::accountForRobotHeading (  double  robotHeading  )  [inline, virtual]
 

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

Definition at line 560 of file ArActionDesired.h.

virtual void ArActionDesired::addAverage (  ArActionDesired *  actDesired  )  [inline, virtual]
 

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

Definition at line 503 of file ArActionDesired.h.

virtual void ArActionDesired::endAverage (  void   )  [inline, virtual]
 

Ends the process of avereraging together different desireds.

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

Definition at line 540 of file ArActionDesired.h.

virtual void ArActionDesired::merge (  ArActionDesired *  actDesired  )  [inline, virtual]
 

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

Definition at line 450 of file ArActionDesired.h.

virtual void ArActionDesired::setDeltaHeading (  double  deltaHeading,
double  strength = MAX_STRENGTH
)  [inline, virtual]
 

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

Definition at line 210 of file ArActionDesired.h.

virtual void ArActionDesired::setHeading (  double  heading,
double  strength = MAX_STRENGTH
)  [inline, virtual]
 

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)

Definition at line 223 of file ArActionDesired.h.

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

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

Definition at line 260 of file ArActionDesired.h.

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

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

Definition at line 306 of file ArActionDesired.h.

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

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

Definition at line 247 of file ArActionDesired.h.

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

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

Definition at line 321 of file ArActionDesired.h.

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

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

Definition at line 336 of file ArActionDesired.h.

virtual void ArActionDesired::setRotVel (  double  rotVel,
double  strength = MAX_STRENGTH
)  [inline, virtual]
 

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)

Definition at line 232 of file ArActionDesired.h.

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

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

Definition at line 275 of file ArActionDesired.h.

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

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

Definition at line 291 of file ArActionDesired.h.

virtual void ArActionDesired::setVel (  double  vel,
double  strength = MAX_STRENGTH
)  [inline, virtual]
 

Sets the velocity (mm/sec) and strength.

Parameters:
vel desired vel (mm/sec)
strength strength given to this, defaults to MAX_STRENGTH (1.0)
Examples:
actionExample.cpp, and joydriveActionExample.cpp.

Definition at line 202 of file ArActionDesired.h.

virtual void ArActionDesired::startAverage (  void   )  [inline, virtual]
 

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.

Definition at line 485 of file ArActionDesired.h.

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