ArActionRatioInput Class Reference

#include <ArActionRatioInput.h>

Inheritance diagram for ArActionRatioInput:

List of all members.

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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

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.
void	addToConfig (ArConfig *config, const char *section)
	Adds to a section in a config.
	ArActionRatioInput (const char *name="RatioInput")
	Constructor.
virtual void	deactivate (void)
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
virtual const ArActionDesired *	getDesired (void) const
virtual ArActionDesired *	getDesired (void)
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)).
void	setParameters (double fullThrottleForwards, double fullThrottleBackwards, double rotAtFullForwards, double rotAtFullBackwards, double rotAtStopped, double latAtFullForwards=0, double latAtFullBackwards=0, double latAtStopped=0)
	Sets the parameters.
void	setRatios (double transRatio, double rotRatio, double throttleRatio, double latRatio=0)
	Set ratios.
void	setRotRatio (double rotRatio)
	Sets the rot ratio (from -100 (full right) to 100 (full left).
void	setThrottleRatio (double throttleRatio)
	Sets the throttle ratio (from 0 (stopped) to 100 (full throttle).
void	setTransRatio (double transRatio)
	Sets the trans ratio (from -100 (full backwards) to 100 (full forwards).
virtual	~ArActionRatioInput ()
	Destructor.
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

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Constructor & Destructor Documentation

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

Constructor. Parameters: name  name of the action

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Member Function Documentation

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.

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.

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.

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.

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.

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.

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.

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

• ArActionRatioInput.h
• ArActionRatioInput.cpp

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