/* ARIA header files for use with ARNL 1.7.1 Copyright(C) 2004, 2005 ActivMedia Robotics, LLC. Copyright(C) 2006, 2007, 2008, 2009 MobileRobots Inc. All rights reserved. This copy of Aria was relicensed for use with Arnl and the Arnl license by MobileRobots Inc. If you wish to download a seperate distribution of Aria licensed under the GPL or a commercial license go to http://www.mobilerobots.com/SOFTWARE/aria.html or contact MobileRobots Inc, at robots@mobilerobots.com or MobileRobots Inc, 10 Columbia Drive, Amherst, NH 03031; 800-639-9481 MobileRobots Inc hereby grants to other individuals or organizations permission to use this software with Arnl and in compliance with the Arnl license. This software may not be distributed to others except by MobileRobots Inc. MobileRobots Inc does not make any representations about the suitability of this software for any purpose. It is provided "as is" without express or implied warranty. */ #ifndef ARACTIONTRIANGLEDRIVETO #define ARACTIONTRIANGLEDRIVETO #include "ariaTypedefs.h" #include "ArAction.h" #include "ArLineFinder.h" /// Action to drive up to a triangle target found from an ArLineFinder /** * This action uses ArLineFinder to find continuous "lines" in * laser range finder data that meet at an angle, forming the point of a * triangular shape, towards which the robot is driven and aligned. * If an ArLineFinder object is not given in the constructor, then it will * search for an ArRangeDevice on the ArRobot with a name "laser" and create its * own ArLineFinder object using that range device. The parameters describing the shape of the triangle target may be set with setTriangleParams(). The default values are for a trianrgle target consisting of two lines of at least 254 mm. meeting at a 135 degree angle. This is the shape of the triangular target on docking stations. Targets also may easily be constructed out of any material well-sensed by the SICK Laser, such as wood, cardboard, or metal. If setTwoStageApproach() is called with true (default) it will first drive to a half meter away from the desired spot (distFromVertex from the point of the vertex along the bisection of the angle between segments) and then after it reachs that point it will turn in towards the vertex and drive to the final spot. If setTwoStageApproach() is called with false it'll just drive to the final spot. It will stop at closeDist away unless a large turn is required where it'll stop 2 * closeDist away. It drives in at the speed given in the constructor. If the robot is closer to the vertex than it should be for the approach it'll skip the approach, if the robot is closer to the vertex than to the final spot it will back up (if its facing away from the vertex it won't see the vertex). If you want the action to drive straight to the vertex instead of to a point in front of it call setGotoVertex() with a true argument... It will no longer do this if finalDistFromVertex is 0... you would do this if you want to drive until a bumper is hit for instance. If you want the action to position using the front of the robot then use setPositionFront(). **/ class ArActionTriangleDriveTo : public ArAction { public: /// Constructor AREXPORT ArActionTriangleDriveTo(const char *name = "triangleDriveTo", double finalDistFromVertex = 400, double approachDistFromVertex = 1000, double speed = 200, double closeDist = 100, double acquireTurnSpeed = 30); /// Destructor AREXPORT virtual ~ArActionTriangleDriveTo(); /// Sets if we will turn to see if we can acquire the triangle void setAcquire(bool acquire = false) { myAcquire = acquire; } /// Gets if we will turn to see if we can acquire the triangle bool getAcquire(void) { return myAcquire; } /// Sets the final distance from vertex void setFinalDistFromVertex(double dist) { myFinalDistFromVertex = dist; } /// Sets the final distance from vertex double getFinalDistFromVertex(void) { return myFinalDistFromVertex; } /// Sets the parameter of the triangle we're looking for void setTriangleParams(double line1Length = 254, double angleBetween = 135, double line2Length = 254) { myLine1Length = line1Length; myAngleBetween = angleBetween; myLine2Length = line2Length; } AREXPORT void setParameters(double finalDistFromVertex = 400, double approachDistFromVertex = 1000, double speed = 200, double closeDist = 100, double acquireTurnSpeed = 30); /// Gets whether we adjust the vertex or not bool getAdjustVertex(void) { return myAdjustVertex; } /// Sets whether we adjust the vertex or not void setAdjustVertex(bool adjustVertex) { myAdjustVertex = adjustVertex; } /// Sets the vertex offset void setVertexOffset(int localXOffset, int localYOffset, double thOffset) { myLocalXOffset = localXOffset; myLocalYOffset = localYOffset; myThOffset = thOffset; } /// Gets whether it always goto the vertex and not the point in front bool getGotoVertex(void) { return myGotoVertex; } /// Sets whether it always goto the vertex and not the point in front void setGotoVertex(bool gotoVertex) { myGotoVertex = gotoVertex; } /// Sets the distance to the triangle at which we start ignoring it void setIgnoreTriangleDist(double dist = 250, bool useIgnoreInGotoVertexMode = false) { myIgnoreTriangleDist = dist; myUseIgnoreInGoto = useIgnoreInGotoVertexMode; } /// Gets the distance to the triangle at which we start ignoring it double getIgnoreTriangleDist(void) { return myIgnoreTriangleDist; } /// Gets if we're ignoring the triangle in goto vertex mode bool getUseIgnoreInGOtoVertexMode(void) { return myUseIgnoreInGoto; } /// How long to keep going without having seen the vertex (0 is no timeout) void setVertexUnseenStopMSecs(int vertexUnseenStopMSecs = 4000) { myVertexUnseenStopMSecs = vertexUnseenStopMSecs; } /// How long to keep going without having seen the vertex (0 is no timeout) int getVertexUnseenStopMSecs(void) { return myVertexUnseenStopMSecs; } /// Sets the maximum distance between points in a line void setMaxDistBetweenLinePoints(int maxDistBetweenLinePoints = 0) { myMaxDistBetweenLinePoints = maxDistBetweenLinePoints; } /// Sets the maximum lateral distance from the robot to the triangle line void setMaxLateralDist(int maxLateralDist = 0) { myMaxLateralDist = maxLateralDist; } /// Sets the maximum angle misalignment from the robot to the triangle line void setMaxAngleMisalignment(int maxAngleMisalignment = 0) { myMaxAngleMisalignment = maxAngleMisalignment; } enum State { STATE_INACTIVE, ///< we aren't trying STATE_ACQUIRE, ///< finding the target STATE_SEARCHING, ///< Turning trying to find the target STATE_GOTO_APPROACH, ///< driving to the approach point STATE_ALIGN_APPROACH, ///< aligning to the target the first time STATE_GOTO_VERTEX, ///< driving to the vertex STATE_GOTO_FINAL, ///< driving to the final point STATE_ALIGN_FINAL, ///< aligning to the target the final time STATE_SUCCEEDED, ///< pointing at the target STATE_FAILED ///< if we're not acquiring and we lost the vertex we fail }; State getState(void) { return myState; } /// Sets the line finder to use AREXPORT void setLineFinder(ArLineFinder *lineFinder); /// Sets the line finder used AREXPORT ArLineFinder *getLineFinder(void) { return myLineFinder; } /// Sets whether we're logging the driving or not void setLogging(bool logging) { myPrinting = logging; } /// Gets whether we're logging the driving or not bool setLogging(void) { return myPrinting; } AREXPORT virtual void activate(void); AREXPORT virtual void deactivate(void); AREXPORT virtual void setRobot(ArRobot *robot); AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired); AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; } #ifndef SWIG AREXPORT virtual const ArActionDesired *getDesired(void) const { return &myDesired; } #endif #ifndef SWIG /** This is for some internal debugging, don't try to use it, it won't work in windows (memory allocation issues). If there's desire for a feature like this I can add it later. @internal **/ class Data { public: Data() { myFinalSet = false; myApproachSet = false; myLinesAndVertexSet = false; myVertexSeenThisCycle = false; myVertexSeen = false; } ~Data() {} void setLinesAndVertex(std::map *lines, ArPose vertex) { myLines.clear(); std::map::iterator it; for (it = lines->begin(); it != lines->end(); it++) { myLines.push_front(*(*it).second); } myVertex = vertex; myLinesAndVertexSet = true; } void setFinal(ArPose final) { myFinalSet = true; myFinal = final; } void setApproach(ArPose approach) { myApproachSet = true; myApproach = approach; } void setVertexSeenThisCycle(bool vertexSeenThisCycle) { myVertexSeenThisCycle = vertexSeenThisCycle; } void setVertexSeen(bool vertexSeen) { myVertexSeen = vertexSeen; } bool myLinesAndVertexSet; std::list myLines; ArPose myVertex; bool myFinalSet; ArPose myFinal; bool myApproachSet; ArPose myApproach; bool myVertexSeenThisCycle; bool myVertexSeen; }; /** Internal use only, sets if we're saving data or not * @internal */ void setSaveData(bool saveData) { mySaveData = saveData; } /** Internal use only, gets if we're saving data or not * @internal */ bool getSaveData(void) { return mySaveData; } /** Interal use only, gets the data we've saved * @internal */ Data *getData(void); #endif // ifndef SWIG protected: // Find our triangle, Internal function AREXPORT void findTriangle(bool initial, bool goStraight = false); // Finds a pose this dist from the vertex along the line from the vertex AREXPORT ArPose findPoseFromVertex(double distFromVertex); // where the vertex was in encoder coords ArPose myVertex; ArRangeDevice *myLaser; //ArLaser *myLaser; ArMutex myDataMutex; bool mySaveData; Data *myData; std::map *myLines; unsigned int myGotLinesCounter; bool myVertexSeen; bool myPrinting; ArTime myVertexSeenLast; State myState; double myOriginalAngle; bool myAcquire; double myFinalDistFromVertex; double myApproachDistFromVertex; double mySpeed; double myCloseDist; double myAcquireTurnSpeed; bool myTwoStageApproach; double myLine1Length; double myAngleBetween; double myLine2Length; int myVertexUnseenStopMSecs; ArActionDesired myDesired; ArLineFinder *myLineFinder; bool myOwnLineFinder; bool myAdjustVertex; bool myGotoVertex; int myLocalXOffset; int myLocalYOffset; double myThOffset; double myIgnoreTriangleDist; bool myUseIgnoreInGoto; int myMaxDistBetweenLinePoints; int myMaxLateralDist; int myMaxAngleMisalignment; }; #endif // ARACTIONTRIANGLEDRIVETO