robotaction.h

一个简单使用的控制器

#ifndef ROBOT_ACTION_H
#define ROBOT_ACTION_H

#include <vector>
#include "Action.h"
#include "OdometryState.h"

#define MAX_TVELOCITY 1000  // mm per sec
#define MAX_RVELOCITY 360   // deg per sec

using namespace std;

class RobotAction : public Action
{
   private:
      OdometryState *odometry;

   public:
      RobotAction(bool useKalmanPoses=true);
      ~RobotAction();

      /**************************** Motor ****************************/
      
      // Sets both velocity at once
      void setVelocity(int tv, int rv);
      
      // Stops the motor
      void setMotorStop(void);
      
      // Turns the motor off
      void setMotorOn(void);
      
      // Turns the motor on
      void setMotorOff(void);
      
      // Resets the odometry counter
      void setPosReset(void);
	  
      /**************************** RobotInfo  ****************************/
      double getPosX(void) {return odometry->getPosX();}
      double getPosZ(void) {return odometry->getPosZ();}
      double getPosTh(void) {return odometry->getPosTh();}
      struct timeval getPosTimestamp(void) {return odometry->getPosTimestamp();}
      double getTVelocity(void) {return odometry->getTVel();}
      double getRVelocity(void) {return odometry->getRVel();}
      double getBattery(void) {return odometry->getBatteryState();}
      int isLeftWheelStuck(void) {return 0;}
      int isRightWheelStuck(void) {return 0;}
      int getMaxRVelocity() {return MAX_RVELOCITY;}
      int getMaxTVelocity() {return MAX_TVELOCITY;}
};
#endif

/*********************************************************************
 * (C) Copyright 2006 Albert Ludwigs University Freiburg
 *     Institute of Computer Science
 *
 * All rights reserved. Use of this software is permitted for
 * non-commercial research purposes, and it may be copied only
 * for that use. All copies must include this copyright message.
 * This software is made available AS IS, and neither the authors
 * nor the Albert Ludwigs University Freiburg make any warranty
 * about the software or its performance.
 *********************************************************************/