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ArActionInput.cpp
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ArActionInput.cpp
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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArActionInput.h"
#include "ArRobot.h"
/**
@param name name of the action
*/
AREXPORT ArActionInput::ArActionInput(const char *name) :
ArAction(name, "Inputs vel and heading")
{
clear();
}
AREXPORT ArActionInput::~ArActionInput()
{
}
AREXPORT void ArActionInput::setVel(double vel)
{
myUsingVel = true;
myVelSet = vel;
}
AREXPORT void ArActionInput::setRotVel(double rotVel)
{
myRotRegime = ROTVEL;
myRotVal = rotVel;
}
AREXPORT void ArActionInput::deltaHeadingFromCurrent(double delta)
{
myRotRegime = DELTAHEADING;
myRotVal = delta;
}
AREXPORT void ArActionInput::setHeading(double heading)
{
myRotRegime = SETHEADING;
myRotVal = heading;
}
AREXPORT void ArActionInput::clear(void)
{
myUsingVel = false;
myRotRegime = NONE;
}
AREXPORT ArActionDesired *ArActionInput::fire(
ArActionDesired currentDesired)
{
myDesired.reset();
if (myUsingVel)
myDesired.setVel(myVelSet);
if (myRotRegime == ROTVEL)
myDesired.setRotVel(myRotVal);
else if (myRotRegime == DELTAHEADING)
{
myDesired.setDeltaHeading(myRotVal);
myRotVal = 0;
}
else if (myRotRegime == SETHEADING)
myDesired.setHeading(myRotVal);
else if (myRotRegime != NONE)
ArLog::log(ArLog::Normal, "ArActionInput::fire: Bad rot regime %d",
myRotRegime);
return &myDesired;
}