wander.cpp

此程序为基于Aria移动机器人开发平台的算法

/*
ActivMedia Robotics Interface for Applications (ARIA)
Copyright (C) 2004,2005 ActivMedia Robotics, LLC


     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 
ActivMedia Robotics for information about a commercial version of ARIA at 
[e-mail] or 
ActivMedia Robotics, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481

*/

#include "Aria.h"

/*
  This program will just have the robot wander around, it uses some avoidance 
  routines, then just has a constant velocity.

  You can press escape while it was running to cause the program to
  close up and exit.
*/

int main(int argc, char **argv)
{
  // robot
  ArRobot robot;
  // sonar, must be added to the robot
  ArSonarDevice sonar;

  // the actions we'll use to wander
  ArActionStallRecover recover;
  ArActionBumpers bumpers;
  ArActionAvoidFront avoidFrontNear("Avoid Front Near", 225, 0);
  ArActionAvoidFront avoidFrontFar;
  ArActionConstantVelocity constantVelocity("Constant Velocity", 400);

  // Make a key handler, so that escape will shut down the program
  // cleanly
  ArKeyHandler keyHandler;

  // mandatory init
  Aria::init();

  ArSimpleConnector connector(&argc, argv);

  if (!connector.parseArgs() || argc > 1)
  {
    connector.logOptions();
    exit(1);
  }

  printf("This program will make the robot wander around, avoiding obstacles.\nPress escape to exit.\n");
  
  // Add the key handler to Aria so other things can find it
  Aria::setKeyHandler(&keyHandler);

  // Attach the key handler to a robot now, so that it actually gets
  // some processing time so it can work, this will also make escape
  // exit
  robot.attachKeyHandler(&keyHandler);

  // add the sonar to the robot
  robot.addRangeDevice(&sonar);
  
  // try to connect, if we fail exit
  if (!connector.connectRobot(&robot))
  {
    printf("Could not connect to robot... exiting\n");
    Aria::shutdown();
    return 1;
  }

  // turn on the motors, turn off amigobot sounds
  robot.comInt(ArCommands::ENABLE, 1);
  robot.comInt(ArCommands::SOUNDTOG, 0);

  // add the actions
  robot.addAction(&recover, 100);
  robot.addAction(&bumpers, 75);
  robot.addAction(&avoidFrontNear, 50);
  robot.addAction(&avoidFrontFar, 49);
  robot.addAction(&constantVelocity, 25);
  
  // start the robot running, true so that if we lose connection the run stops
  robot.run(true);
  
  // now exit
  Aria::shutdown();
  return 0;
}