Aria  2.8.0
triangleDriveToActionExample.cpp

Example/demonstration of ArActionTriangleDriveTo, which drives the robot towards a specially shaped triangular targetPress g or G to use ArActionTriangleDriveTo to detect and drive towards a triangular target shape. Press s or S to stop. See ArActionTriangleDriveTo for more information about the triangular target and what the action does and its parameters.

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
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
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"
int main(int argc, char **argv)
{
// parse our args and make sure they were all accounted for
ArSimpleConnector connector(&argc, argv);
ArRobot robot;
// the laser. ArActionTriangleDriveTo will use this laser object since it is
// named "laser" when added to the ArRobot.
ArSick sick;
if (!connector.parseArgs() || argc > 1)
{
connector.logOptions();
return 1;
}
// a key handler so we can do our key handling
ArKeyHandler keyHandler;
// let the global aria stuff know about it
Aria::setKeyHandler(&keyHandler);
// toss it on the robot
robot.attachKeyHandler(&keyHandler);
// add the laser to the robot
robot.addRangeDevice(&sick);
robot.addRangeDevice(&sonar);
ArActionTriangleDriveTo triangleDriveTo;
ArFunctorC<ArActionTriangleDriveTo> lineGoCB(&triangleDriveTo,
&ArActionTriangleDriveTo::activate);
keyHandler.addKeyHandler('g', &lineGoCB);
keyHandler.addKeyHandler('G', &lineGoCB);
ArFunctorC<ArActionTriangleDriveTo> lineStopCB(&triangleDriveTo,
&ArActionTriangleDriveTo::deactivate);
keyHandler.addKeyHandler('s', &lineStopCB);
keyHandler.addKeyHandler('S', &lineStopCB);
ArActionLimiterForwards limiter("limiter", 150, 0, 0, 1.3);
robot.addAction(&limiter, 70);
ArActionLimiterBackwards limiterBackwards;
robot.addAction(&limiterBackwards, 69);
robot.addAction(&triangleDriveTo, 60);
ArActionKeydrive keydrive;
robot.addAction(&keydrive, 55);
ArActionStop stopAction;
robot.addAction(&stopAction, 50);
// try to connect, if we fail exit
if (!connector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
return 1;
}
// start the robot running, true so that if we lose connection the run stops
robot.runAsync(true);
// now set up the laser
connector.setupLaser(&sick);
sick.runAsync();
if (!sick.blockingConnect())
{
printf("Could not connect to SICK laser... exiting\n");
return 1;
}
printf("If you press the 'g' key it'll go find a triangle, if you press 's' it'll stop.\n");
robot.waitForRunExit();
return 0;
}
ArSick
Compatability class used to access SICK LMS-200 laser rangefinder device in versions of ARIA prior to...
Definition: ArSick.h:48
ArCommands::SONAR
@ SONAR
int, enable (1) or disable (0) sonar
Definition: ArCommands.h:63
ArFunctorC
Functor for a member function.
Definition: ArFunctor.h:1825
ArKeyHandler
Perform actions when keyboard keys are pressed.
Definition: ArKeyHandler.h:65
ArSimpleConnector::setupLaser
bool setupLaser(ArSick *laser)
Sets up the laser to be connected.
Definition: ArSimpleConnector.cpp:226
ArActionTriangleDriveTo
Action to drive up to a triangle target (e.g. docking station) found from an ArLineFinder.
Definition: ArActionTriangleDriveTo.h:71
ArSimpleConnector
Legacy connector for robot and laser.
Definition: ArSimpleConnector.h:51
ArRobot::comInt
bool comInt(unsigned char command, short int argument)
Sends a command to the robot with an int for argument.
Definition: ArRobot.cpp:5634
ArLMS2xx::blockingConnect
virtual bool blockingConnect(void)
Connect to the laser while blocking.
Definition: ArLMS2xx.cpp:1206
Aria::setKeyHandler
static void setKeyHandler(ArKeyHandler *keyHandler)
Sets the key handler, so that other classes can find it using getKeyHandler()
Definition: Aria.cpp:624
ArSimpleConnector::parseArgs
bool parseArgs(void)
Function to parse the arguments given in the constructor.
Definition: ArSimpleConnector.cpp:83
ArSimpleConnector::connectRobot
bool connectRobot(ArRobot *robot)
Sets up the robot then connects it.
Definition: ArSimpleConnector.cpp:209
ArRobot::addRangeDevice
void addRangeDevice(ArRangeDevice *device)
Adds a rangeDevice to the robot's list of them, and set the ArRangeDevice object's robot pointer to t...
Definition: ArRobot.cpp:5757
Aria::exit
static void exit(int exitCode=0)
Shutdown all Aria processes/threads, call exit callbacks, and exit the program.
Definition: Aria.cpp:367
ArKeyHandler::addKeyHandler
bool addKeyHandler(int keyToHandle, ArFunctor *functor)
This adds a keyhandler, when the keyToHandle is hit, functor will fire.
Definition: ArKeyHandler.cpp:144
Aria::init
static void init(SigHandleMethod method=SIGHANDLE_THREAD, bool initSockets=true, bool sigHandleExitNotShutdown=true)
Initialize Aria global data struture and perform OS-specific initialization, including adding OS sign...
Definition: Aria.cpp:128
ArRobot
Central class for communicating with and operating the robot.
Definition: ArRobot.h:82
ArSimpleConnector::logOptions
void logOptions(void) const
Log the options the simple connector has.
Definition: ArSimpleConnector.cpp:175
ArSonarDevice
Keep track of recent sonar readings from a robot as an ArRangeDevice.
Definition: ArSonarDevice.h:51
ArRangeDeviceThreaded::runAsync
virtual void runAsync(void)
Run in its own thread.
Definition: ArRangeDeviceThreaded.h:58
ArRobot::runAsync
void runAsync(bool stopRunIfNotConnected, bool runNonThreadedPacketReader=false)
Starts the instance to do processing in its own new thread.
Definition: ArRobot.cpp:301
ArRobot::addAction
bool addAction(ArAction *action, int priority)
Adds an action to the list with the given priority.
Definition: ArRobot.cpp:3278
ArActionKeydrive
This action will use the keyboard arrow keys for input to drive the robot.
Definition: ArActionKeydrive.h:37
ArActionLimiterBackwards
Action to limit the backwards motion of the robot based on range sensor readings.
Definition: ArActionLimiterBackwards.h:40
ArActionStop
Action for stopping the robot.
Definition: ArActionStop.h:37
ArRobot::attachKeyHandler
void attachKeyHandler(ArKeyHandler *keyHandler, bool exitOnEscape=true, bool useExitNotShutdown=true)
Attachs a key handler.
Definition: ArRobot.cpp:6641
ArCommands::ENABLE
@ ENABLE
int, enable (1) or disable (0) motors
Definition: ArCommands.h:43
ArActionLimiterForwards
Action to limit the forwards motion of the robot based on range sensor readings.
Definition: ArActionLimiterForwards.h:39
ArRobot::waitForRunExit
WaitState waitForRunExit(unsigned int msecs=0)
Suspend calling thread until the ArRobot run loop has exited.
Definition: ArRobot.cpp:2923