ArServerModeRatioDrive Class Reference

#include <ArServerModeRatioDrive.h>

Inheritance diagram for ArServerModeRatioDrive:

Detailed Description

Examples:: drawingsExampleWithRobot.cpp, serverDemo.cpp, and simpleServerExample.cpp.

Public Member Functions

virtual void activate (void)

The function called when the mode is activated.

void addControlCommands (ArServerHandlerCommands *handlerCommands)

This adds commands that'll let you disable and enable safe driving.

void addDrivingBackwardsCallback (ArFunctor *functor, int position=50)

Adds a callback mode for when trying to back up.

void addSafeDrivingCallback (ArFunctor *functor, int position=50)

Adds a callback mode for when safe driving is activated.

void addToConfig (ArConfig *config, const char *section)

Adds to a config in a section.

void addUnsafeDrivingCallback (ArFunctor *functor, int position=50)

Adds a callback mode for when unsafe driving is activated.

ArServerModeRatioDrive (ArServerBase *server, ArRobot *robot, bool takeControlOnJoystick=true, bool useComputerJoystick=true, bool useRobotJoystick=true, bool useServerCommands=true, const char *name="ratioDrive", bool robotJoystickOverridesLocks=true)

Constructor.

virtual void deactivate (void)

The function called when the mode is deactivated.

virtual ArActionGroup * getActionGroup (void)

This function should return the action group this mode uses.

ArActionRatioInput * getActionRatioInput (void)

bool getSafeDriving (void)

Gets whether we're driving safely or not.

bool getUseLocationDependentDevices (void)

Gets whether we're using the range devices that depend on location.

void ratioDrive (double transRatio, double rotRatio, double throttleRatio, bool isActivating=false, double latRatio=0)

Sets the ratio drive action.

void remDrivingBackwardsCallback (ArFunctor *functor)

Removes a callback mode for when trying to back up.

void remSafeDrivingCallback (ArFunctor *functor)

Removes a callback mode for when safe driving is activated.

void remUnsafeDrivingCallback (ArFunctor *functor)

Removes a callback mode for when unsafe driving is activated.

void setSafeDriving (bool safe, bool internal=false)

Sets whether we're safe driving or not.

void setUseLocationDependentDevices (bool useLocationDependentDevices, bool internal=false)

Sets whether we're using the range devices that depend on location.

virtual void userTask (void)

The ArMode's user task, don't need one, subclass must provide if needed.

virtual ~ArServerModeRatioDrive ()

Destructor.

Protected Member Functions

void joyUserTask (void)

void ratioFireCallback (void)

void serverGetSafeDrive (ArServerClient *client, ArNetPacket *packet)

void serverRatioDrive (ArServerClient *client, ArNetPacket *packet)

void serverSafeDrivingDisable (void)

void serverSafeDrivingEnable (void)

void serverSetSafeDrive (ArServerClient *client, ArNetPacket *packet)

Protected Attributes

bool myDriveSafely

ArCallbackList myDrivingBackwardsCallbacks

bool myGotServerCommand

ArServerHandlerCommands * myHandlerCommands

ArRatioInputJoydrive * myJoydrive

ArJoyHandler * myJoyHandler

ArFunctorC< ArServerModeRatioDrive > myJoyUserTaskCB

bool myLastRobotSafeDrive

bool myLastTimedOut

double myLatRatio

ArActionDeceleratingLimiter * myLimiterBackward

ArActionDeceleratingLimiter * myLimiterForward

ArActionDeceleratingLimiter * myLimiterLateralLeft

ArActionDeceleratingLimiter * myLimiterLateralRight

ArActionMovementParameters * myMovementParameters

bool myNewDriveSafely

bool myPrinting

ArActionRatioInput * myRatioAction

ArActionGroup myRatioDriveGroup

ArFunctorC< ArServerModeRatioDrive > myRatioFireCB

ArRatioInputRobotJoydrive * myRobotJoydrive

ArRobotJoyHandler * myRobotJoyHandler

bool myRobotJoystickOverridesLock

double myRotRatio

ArCallbackList mySafeDrivingCallbacks

bool mySentRecenter

ArFunctor2C< ArServerModeRatioDrive,
ArServerClient *, ArNetPacket * > myServerGetSafeDriveCB

ArFunctor2C< ArServerModeRatioDrive,
ArServerClient *, ArNetPacket * > myServerRatioDriveCB

ArFunctorC< ArServerModeRatioDrive > myServerSafeDrivingDisableCB

ArFunctorC< ArServerModeRatioDrive > myServerSafeDrivingEnableCB

ArFunctor2C< ArServerModeRatioDrive,
ArServerClient *, ArNetPacket * > myServerSetSafeDriveCB

bool myTakeControlOnJoystick

double myThrottleRatio

double myTimeout

double myTransRatio

ArCallbackList myUnsafeDrivingCallbacks

bool myUseComputerJoystick

bool myUseLocationDependentDevices

bool myUseRobotJoystick

bool myUseServerCommands

Constructor & Destructor Documentation

ArServerModeRatioDrive::ArServerModeRatioDrive	(	ArServerBase *	server,
		ArRobot *	robot,
		bool	takeControlOnJoystick = `true`,
		bool	useComputerJoystick = `true`,
		bool	useRobotJoystick = `true`,
		bool	useServerCommands = `true`,
		const char *	name = `"ratioDrive"`,
		bool	robotJoystickOverridesLocks = `true`
	)

Constructor.

ArServerModeRatioDrive::~ArServerModeRatioDrive ( ) [virtual]

Destructor.

Member Function Documentation

void ArServerModeRatioDrive::activate ( void ) [virtual]

The function called when the mode is activated.

Subclasses must implement this, but also call baseActivate().-

Implements ArServerMode.

void ArServerModeRatioDrive::addControlCommands ( ArServerHandlerCommands * handlerCommands )

This adds commands that'll let you disable and enable safe driving.

void ArServerModeRatioDrive::addDrivingBackwardsCallback	(	ArFunctor *	functor,
		int	position = `50`
	)			`[inline]`

Adds a callback mode for when trying to back up.

void ArServerModeRatioDrive::addSafeDrivingCallback	(	ArFunctor *	functor,
		int	position = `50`
	)			`[inline]`

Adds a callback mode for when safe driving is activated.

void ArServerModeRatioDrive::addToConfig	(	ArConfig *	config,
		const char *	section
	)

Adds to a config in a section.

void ArServerModeRatioDrive::addUnsafeDrivingCallback	(	ArFunctor *	functor,
		int	position = `50`
	)			`[inline]`

Adds a callback mode for when unsafe driving is activated.

void ArServerModeRatioDrive::deactivate ( void ) [virtual]

The function called when the mode is deactivated.

Subclasses must implement this, and also call baseDeactivate().

Implements ArServerMode.

virtual ArActionGroup* ArServerModeRatioDrive::getActionGroup ( void ) [inline, virtual]

This function should return the action group this mode uses.

Reimplemented from ArServerMode.

ArActionRatioInput* ArServerModeRatioDrive::getActionRatioInput ( void ) [inline]

bool ArServerModeRatioDrive::getSafeDriving ( void )

Gets whether we're driving safely or not.

bool ArServerModeRatioDrive::getUseLocationDependentDevices ( void )

Gets whether we're using the range devices that depend on location.

void ArServerModeRatioDrive::joyUserTask ( void ) [protected]

void ArServerModeRatioDrive::ratioDrive	(	double	transRatio,
		double	rotRatio,
		double	throttleRatio,
		bool	isActivating = `false`,
		double	latRatio = `0`
	)

Sets the ratio drive action.

Parameters:

	isActivating	a bool set to true only if this method is called from the activate() method, otherwise false
	transRatio	Amount of forward velocity to request
	rotRatio	Amount of rotational velocity to request
	throttleRatio	Amount of speed to request
	latRatio	amount of lateral velocity to request (if robot supports it)

void ArServerModeRatioDrive::ratioFireCallback ( void ) [protected]

void ArServerModeRatioDrive::remDrivingBackwardsCallback ( ArFunctor * functor ) [inline]

Removes a callback mode for when trying to back up.

void ArServerModeRatioDrive::remSafeDrivingCallback ( ArFunctor * functor ) [inline]

Removes a callback mode for when safe driving is activated.

void ArServerModeRatioDrive::remUnsafeDrivingCallback ( ArFunctor * functor ) [inline]

Removes a callback mode for when unsafe driving is activated.

void ArServerModeRatioDrive::serverGetSafeDrive	(	ArServerClient *	client,
		ArNetPacket *	packet
	)			`[protected]`

void ArServerModeRatioDrive::serverRatioDrive	(	ArServerClient *	client,
		ArNetPacket *	packet
	)			`[protected]`

void ArServerModeRatioDrive::serverSafeDrivingDisable ( void ) [protected]

void ArServerModeRatioDrive::serverSafeDrivingEnable ( void ) [protected]

void ArServerModeRatioDrive::serverSetSafeDrive	(	ArServerClient *	client,
		ArNetPacket *	packet
	)			`[protected]`

void ArServerModeRatioDrive::setSafeDriving	(	bool	safe,
		bool	internal = `false`
	)

Sets whether we're safe driving or not.

void ArServerModeRatioDrive::setUseLocationDependentDevices	(	bool	useLocationDependentDevices,
		bool	internal = `false`
	)

Sets whether we're using the range devices that depend on location.

void ArServerModeRatioDrive::userTask ( void ) [virtual]

The ArMode's user task, don't need one, subclass must provide if needed.

Reimplemented from ArServerMode.

Member Data Documentation

bool ArServerModeRatioDrive::myDriveSafely [protected]

ArCallbackList ArServerModeRatioDrive::myDrivingBackwardsCallbacks [protected]

bool ArServerModeRatioDrive::myGotServerCommand [protected]

ArServerHandlerCommands* ArServerModeRatioDrive::myHandlerCommands [protected]

ArRatioInputJoydrive* ArServerModeRatioDrive::myJoydrive [protected]

ArJoyHandler* ArServerModeRatioDrive::myJoyHandler [protected]

ArFunctorC<ArServerModeRatioDrive> ArServerModeRatioDrive::myJoyUserTaskCB [protected]

bool ArServerModeRatioDrive::myLastRobotSafeDrive [protected]

bool ArServerModeRatioDrive::myLastTimedOut [protected]

double ArServerModeRatioDrive::myLatRatio [protected]

ArActionDeceleratingLimiter* ArServerModeRatioDrive::myLimiterBackward [protected]

ArActionDeceleratingLimiter* ArServerModeRatioDrive::myLimiterForward [protected]

ArActionDeceleratingLimiter* ArServerModeRatioDrive::myLimiterLateralLeft [protected]

ArActionDeceleratingLimiter* ArServerModeRatioDrive::myLimiterLateralRight [protected]

ArActionMovementParameters* ArServerModeRatioDrive::myMovementParameters [protected]

bool ArServerModeRatioDrive::myNewDriveSafely [protected]

bool ArServerModeRatioDrive::myPrinting [protected]

ArActionRatioInput* ArServerModeRatioDrive::myRatioAction [protected]

ArActionGroup ArServerModeRatioDrive::myRatioDriveGroup [protected]

ArFunctorC<ArServerModeRatioDrive> ArServerModeRatioDrive::myRatioFireCB [protected]

ArRatioInputRobotJoydrive* ArServerModeRatioDrive::myRobotJoydrive [protected]

ArRobotJoyHandler* ArServerModeRatioDrive::myRobotJoyHandler [protected]

bool ArServerModeRatioDrive::myRobotJoystickOverridesLock [protected]

double ArServerModeRatioDrive::myRotRatio [protected]

ArCallbackList ArServerModeRatioDrive::mySafeDrivingCallbacks [protected]

bool ArServerModeRatioDrive::mySentRecenter [protected]

ArFunctor2C<ArServerModeRatioDrive, ArServerClient *, ArNetPacket *> ArServerModeRatioDrive::myServerGetSafeDriveCB [protected]

ArFunctor2C<ArServerModeRatioDrive, ArServerClient *, ArNetPacket *> ArServerModeRatioDrive::myServerRatioDriveCB [protected]

ArFunctorC<ArServerModeRatioDrive> ArServerModeRatioDrive::myServerSafeDrivingDisableCB [protected]

ArFunctorC<ArServerModeRatioDrive> ArServerModeRatioDrive::myServerSafeDrivingEnableCB [protected]

ArFunctor2C<ArServerModeRatioDrive, ArServerClient *, ArNetPacket *> ArServerModeRatioDrive::myServerSetSafeDriveCB [protected]

bool ArServerModeRatioDrive::myTakeControlOnJoystick [protected]

double ArServerModeRatioDrive::myThrottleRatio [protected]

double ArServerModeRatioDrive::myTimeout [protected]

double ArServerModeRatioDrive::myTransRatio [protected]

ArCallbackList ArServerModeRatioDrive::myUnsafeDrivingCallbacks [protected]

bool ArServerModeRatioDrive::myUseComputerJoystick [protected]

bool ArServerModeRatioDrive::myUseLocationDependentDevices [protected]

bool ArServerModeRatioDrive::myUseRobotJoystick [protected]

bool ArServerModeRatioDrive::myUseServerCommands [protected]

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

Generated on Fri Jul 31 12:37:29 2009 for ArNetworking by

1.4.7


Public Member Functions
virtual void	activate (void)
	The function called when the mode is activated.
void	addControlCommands (ArServerHandlerCommands *handlerCommands)
	This adds commands that'll let you disable and enable safe driving.
void	addDrivingBackwardsCallback (ArFunctor *functor, int position=50)
	Adds a callback mode for when trying to back up.
void	addSafeDrivingCallback (ArFunctor *functor, int position=50)
	Adds a callback mode for when safe driving is activated.
void	addToConfig (ArConfig config, const char section)
	Adds to a config in a section.
void	addUnsafeDrivingCallback (ArFunctor *functor, int position=50)
	Adds a callback mode for when unsafe driving is activated.
	ArServerModeRatioDrive (ArServerBase server, ArRobot robot, bool takeControlOnJoystick=true, bool useComputerJoystick=true, bool useRobotJoystick=true, bool useServerCommands=true, const char *name="ratioDrive", bool robotJoystickOverridesLocks=true)
	Constructor.
virtual void	deactivate (void)
	The function called when the mode is deactivated.
virtual ArActionGroup *	getActionGroup (void)
	This function should return the action group this mode uses.
ArActionRatioInput *	getActionRatioInput (void)
bool	getSafeDriving (void)
	Gets whether we're driving safely or not.
bool	getUseLocationDependentDevices (void)
	Gets whether we're using the range devices that depend on location.
void	ratioDrive (double transRatio, double rotRatio, double throttleRatio, bool isActivating=false, double latRatio=0)
	Sets the ratio drive action.
void	remDrivingBackwardsCallback (ArFunctor *functor)
	Removes a callback mode for when trying to back up.
void	remSafeDrivingCallback (ArFunctor *functor)
	Removes a callback mode for when safe driving is activated.
void	remUnsafeDrivingCallback (ArFunctor *functor)
	Removes a callback mode for when unsafe driving is activated.
void	setSafeDriving (bool safe, bool internal=false)
	Sets whether we're safe driving or not.
void	setUseLocationDependentDevices (bool useLocationDependentDevices, bool internal=false)
	Sets whether we're using the range devices that depend on location.
virtual void	userTask (void)
	The ArMode's user task, don't need one, subclass must provide if needed.
virtual	~ArServerModeRatioDrive ()
	Destructor.
Protected Member Functions
void	joyUserTask (void)
void	ratioFireCallback (void)
void	serverGetSafeDrive (ArServerClient client, ArNetPacket packet)
void	serverRatioDrive (ArServerClient client, ArNetPacket packet)
void	serverSafeDrivingDisable (void)
void	serverSafeDrivingEnable (void)
void	serverSetSafeDrive (ArServerClient client, ArNetPacket packet)
Protected Attributes
bool	myDriveSafely
ArCallbackList	myDrivingBackwardsCallbacks
bool	myGotServerCommand
ArServerHandlerCommands *	myHandlerCommands
ArRatioInputJoydrive *	myJoydrive
ArJoyHandler *	myJoyHandler
ArFunctorC< ArServerModeRatioDrive >	myJoyUserTaskCB
bool	myLastRobotSafeDrive
bool	myLastTimedOut
double	myLatRatio
ArActionDeceleratingLimiter *	myLimiterBackward
ArActionDeceleratingLimiter *	myLimiterForward
ArActionDeceleratingLimiter *	myLimiterLateralLeft
ArActionDeceleratingLimiter *	myLimiterLateralRight
ArActionMovementParameters *	myMovementParameters
bool	myNewDriveSafely
bool	myPrinting
ArActionRatioInput *	myRatioAction
ArActionGroup	myRatioDriveGroup
ArFunctorC< ArServerModeRatioDrive >	myRatioFireCB
ArRatioInputRobotJoydrive *	myRobotJoydrive
ArRobotJoyHandler *	myRobotJoyHandler
bool	myRobotJoystickOverridesLock
double	myRotRatio
ArCallbackList	mySafeDrivingCallbacks
bool	mySentRecenter
ArFunctor2C< ArServerModeRatioDrive, ArServerClient , ArNetPacket >	myServerGetSafeDriveCB
ArFunctor2C< ArServerModeRatioDrive, ArServerClient , ArNetPacket >	myServerRatioDriveCB
ArFunctorC< ArServerModeRatioDrive >	myServerSafeDrivingDisableCB
ArFunctorC< ArServerModeRatioDrive >	myServerSafeDrivingEnableCB
ArFunctor2C< ArServerModeRatioDrive, ArServerClient , ArNetPacket >	myServerSetSafeDriveCB
bool	myTakeControlOnJoystick
double	myThrottleRatio
double	myTimeout
double	myTransRatio
ArCallbackList	myUnsafeDrivingCallbacks
bool	myUseComputerJoystick
bool	myUseLocationDependentDevices
bool	myUseRobotJoystick
bool	myUseServerCommands