ArServerModeDockTriangleBump Class Reference

#include <ArDocking.h>

Inheritance diagram for ArServerModeDockTriangleBump:

List of all members.

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Detailed Description

This class is set up so that it can be used for both a patrolbot and a powerbot, it'll also work as a base for the simulator (so that it has a docking mode too).

This class takes care of all of the driving, sub classes only need to implement 3 functions. The first is 'isDocked' which'll return true if power is being received. The second is 'enableDocking' which is called when the dock is bumped and should engage docking if needed. The third is 'disableDocking' which'll be called before the robot backs out.

So basically this class'll drive to the dock goal, then it'll find the triangular docking target and drive to that until it bumps and then call 'enableDocking' and then wait 10 seconds while checking 'isDocked' to see if the robot is docked. If it is docked it'll switch to the dock state. Note that if the robot stalls 'isDocked' will be checked on its own, if it is docked then it'll just go to docked too, this is for the simulator and you shouldn't really use this for anything else.

When trying to undock this'll call 'disableDocking' and then wait 5 seconds and then back out from the dock (using the sonar to not run into things).

Public Member Functions
	ArServerModeDockTriangleBump (ArServerBase *serverBase, ArRobot *robot, ArLocalizationTask *locTask, ArPathPlanningTask *pathTask, bool useChargeState=false, double approachDist=1000, double backOutDist=0, ArFunctor *shutdownFunctor=NULL)
	Parameters: server  the server where we put the docking commands
virtual void	dock (void)
	Sends the robot to the dock (subclass needs to implement).
virtual void	undock (void)
	Has the robot leave the dock (subclass needs to implement).
virtual void	checkDock (void)
	Sees if the robot is already docked and activates itself if it is (subclass should implement).
virtual bool	isDocked (void)=0
	This should return true if the robot has power from the dock and false otherwise.
virtual void	enableDock (void)=0
	This should enable docking (turn on charger or what not), it'll be called after the robot bumps into the dock.
virtual void	disableDock (void)=0
	This should disable docking (turn off charger or what not), it'll be called, this'll wait 5 seconds, and then the robot'll back away from the dock.
virtual void	beforeDriveInCallback (void)
	This should do anything that needs to be done before the robot can drive into the dock.
virtual void	afterDriveOutCallback (void)
	This should do anything that needs to be done after the robot can drives out of the dock.
virtual void	backoutCallback (void)
	This function is called if the robot has backed out but is still docked.
void	setStallsAsBumps (bool stallsAsBumps)
	set whether to treat stalls as bumps or not (mostly for the simulator)
bool	getStallsAsBumps (void)
	get whether to treat stalls as bumps or not (mostly for the simulator)

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Constructor & Destructor Documentation

ArServerModeDockTriangleBump::ArServerModeDockTriangleBump	(	ArServerBase *	server,
		ArRobot *	robot,
		ArLocalizationTask *	locTask,
		ArPathPlanningTask *	pathTask,
		bool	useChargeState = false,
		double	approachDist = 1000,
		double	backOutDist = 0,
		ArFunctor *	shutdownFunctor = NULL
	)

Parameters:

server

the server where we put the docking commands

Parameters:

	robot	the robot we're using
	locTask	the task for localization (so we can say its okay to be in a wall)
	pathTask	the task for driving around
	useChargeState	whether to use the charge state to know when docking or not
	approachDist	distance in front of triangle vertex to use as the approach point (before the final drive in)
	backOutDist	distance to back out, 0 means use old method which goes out as far as it had to drive in

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Member Function Documentation

virtual void ArServerModeDockTriangleBump::enableDock

(

void

)

[pure virtual]

This should enable docking (turn on charger or what not), it'll be called after the robot bumps into the dock.

After this the code'll wait a while for isDocked to become true.

Implemented in ArServerModeDockPatrolBot, ArServerModeDockSimulator, and ArServerModeDockPowerBot.

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