/usr/include/Aria/ArRobotParams.h is in libaria-dev 2.8.0+repack-1.2ubuntu1.
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Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
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
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARROBOTPARAMS_H
#define ARROBOTPARAMS_H
#include "ariaTypedefs.h"
#include "ArConfig.h"
#include <vector>
#ifndef SWIG
/// Stores a set of video device parameters read from one of the video sections of a robot parameter file.
/// @internal
/// @swigomit
class ArVideoParams
{
public:
std::string type;
bool connect; bool connectSet;
int imageWidth;
int imageHeight;
int deviceIndex;
std::string deviceName;
int channel;
std::string analogSignalFormat;
std::string address;
int tcpPort; bool tcpPortSet;
bool inverted; bool invertedSet;
ArVideoParams() :
type("unknown"),
connect(false),
connectSet(false),
imageWidth(-1),
imageHeight(-1),
deviceIndex(-1),
deviceName("none"),
channel(1),
analogSignalFormat(""),
address("192.168.0.90"),
tcpPort(80),
tcpPortSet(false),
inverted(false),
invertedSet(false)
{}
/// Copy values of any parameters in @a other into @a this, if given in @a other
AREXPORT void merge(const ArVideoParams& other);
void setType(const std::string& t) { type = t; }
void setConnect(bool c) { connect = c; connectSet = true; }
void setImageSize(int w, int h) { imageWidth = w; imageHeight = h; }
void setInverted(bool i) { inverted = i; invertedSet = true; }
void setDevice(const std::string& name, int idx, int chan)
{
deviceName = name;
deviceIndex = idx;
channel = chan;
}
void setAddress(const std::string& a) { address = a; }
void setTCPPort(int p) { tcpPort = p; tcpPortSet = true; }
};
/// Stores a set of PTZ/PTU device parameters read from one of the PTZ sections of a robot parameter file.
/// @internal
/// @swigomit
class ArPTZParams
{
public:
std::string type;
bool connect; bool connectSet;
std::string serialPort;
int robotAuxPort;
std::string address;
int tcpPort; bool tcpPortSet;
bool inverted; bool invertedSet;
ArPTZParams() :
type("unknown"),
connect(false),
connectSet(false),
serialPort("none"),
robotAuxPort(-1),
address("192.168.0.90"),
tcpPort(80),
tcpPortSet(false),
inverted(false),
invertedSet(false)
{}
/// Copy values of any parameters in @a other into @a this, if given in @a other
void merge(const ArPTZParams& other);
void setType(const std::string& t) { type = t; }
void setConnect(bool c) { connect = c; connectSet = true; }
void setSerialPort(const std::string& sp) { serialPort = sp; }
void setTcpPort(int p) { tcpPort = p; tcpPortSet = true; }
void setRobotAuxPort(int p) { robotAuxPort = p; }
void setInverted(bool i) { inverted = i; invertedSet = true; }
void setAddress(const std::string& a) { address = a; }
};
#endif // ifndef SWIG
///Stores parameters read from the robot's parameter files
/**
Use ArRobot::getRobotParams() after a successful robot
connection to obtain a pointer to an ArRobotParams instance containing the
values read from the files.
See @ref ParamFiles for a description of the robot parameter files.
ArRobotParams is a subclass of ArConfig which contains some useful methods
and features.
*/
class ArRobotParams : public ArConfig
{
public:
/// Constructor
AREXPORT ArRobotParams();
/// Destructor
AREXPORT virtual ~ArRobotParams();
/// Returns the class from the parameter file
const char *getClassName(void) const { return myClass; }
/// Returns the subclass from the parameter file
const char *getSubClassName(void) const { return mySubClass; }
/// Returns the robot's radius
double getRobotRadius(void) const { return myRobotRadius; }
/// Returns the robot diagonal (half-height to diagonal of octagon)
double getRobotDiagonal(void) const { return myRobotDiagonal; }
/// Returns the robot's width
double getRobotWidth(void) const { return myRobotWidth; }
/// Returns the robot's length
double getRobotLength(void) const { return myRobotLength; }
/// Returns the robot's length to the front of the robot
double getRobotLengthFront(void) const { return myRobotLengthFront; }
/// Returns the robot's length to the rear of the robot
double getRobotLengthRear(void) const { return myRobotLengthRear; }
/// Returns whether the robot is holonomic or not
bool isHolonomic(void) const { return myHolonomic; }
/// Returns if the robot has a built in move command
bool hasMoveCommand(void) const { return myHaveMoveCommand; }
/// Returns the max velocity of the robot
int getAbsoluteMaxVelocity(void) const { return myAbsoluteMaxVelocity; }
/// Returns the max rotational velocity of the robot
int getAbsoluteMaxRotVelocity(void) const { return myAbsoluteMaxRVelocity; }
/// Returns the max lateral velocity of the robot
int getAbsoluteMaxLatVelocity(void) const
{ return myAbsoluteMaxLatVelocity; }
/// Returns true if IO packets are automatically requested upon connection to the robot.
bool getRequestIOPackets(void) const { return myRequestIOPackets; }
/// Returns true if encoder packets are automatically requested upon connection to the robot.
bool getRequestEncoderPackets(void) const { return myRequestEncoderPackets; }
/// Returns the baud rate set in the param to talk to the robot at
int getSwitchToBaudRate(void) const { return mySwitchToBaudRate; }
/// Returns the angle conversion factor
double getAngleConvFactor(void) const { return myAngleConvFactor; }
/// Returns the distance conversion factor
double getDistConvFactor(void) const { return myDistConvFactor; }
/// Returns the velocity conversion factor
double getVelConvFactor(void) const { return myVelConvFactor; }
/// Returns the sonar range conversion factor
double getRangeConvFactor(void) const { return myRangeConvFactor; }
/// Returns the wheel velocity difference to angular velocity conv factor
double getDiffConvFactor(void) const { return myDiffConvFactor; }
/// Returns the multiplier for VEL2 commands
double getVel2Divisor(void) const { return myVel2Divisor; }
/// Returns the multiplier for the Analog Gyro
double getGyroScaler(void) const { return myGyroScaler; }
/// Returns true if the robot has table sensing IR
bool haveTableSensingIR(void) const { return myTableSensingIR; }
/// Returns true if the robot's table sensing IR bits are sent in the 4th-byte of the IO packet
bool haveNewTableSensingIR(void) const { return myNewTableSensingIR; }
/// Returns true if the robot has front bumpers
bool haveFrontBumpers(void) const { return myFrontBumpers; }
/// Returns the number of front bumpers
int numFrontBumpers(void) const { return myNumFrontBumpers; }
/// Returns true if the robot has rear bumpers
bool haveRearBumpers(void) const { return myRearBumpers; }
/// Returns the number of rear bumpers
int numRearBumpers(void) const { return myNumRearBumpers; }
/// Returns the number of IRs
int getNumIR(void) const { return myNumIR; }
/// Returns if the IR of the given number is valid
bool haveIR(int number) const
{
if (myIRMap.find(number) != myIRMap.end())
return true;
else
return false;
}
/// Returns the X location of the given numbered IR
int getIRX(int number) const
{
std::map<int, std::map<int, int> >::const_iterator it;
std::map<int, int>::const_iterator it2;
if ((it = myIRMap.find(number)) == myIRMap.end())
return 0;
if ((it2 = (*it).second.find(IR_X)) == (*it).second.end())
return 0;
return (*it2).second;
}
/// Returns the Y location of the given numbered IR
int getIRY(int number) const
{
std::map<int, std::map<int, int> >::const_iterator it;
std::map<int, int>::const_iterator it2;
if ((it = myIRMap.find(number)) == myIRMap.end())
return 0;
if ((it2 = (*it).second.find(IR_Y)) == (*it).second.end())
return 0;
return (*it2).second;
}
int getIRType(int number) const
{
std::map<int, std::map<int, int> >::const_iterator it;
std::map<int, int>::const_iterator it2;
if ((it = myIRMap.find(number)) == myIRMap.end())
return 0;
if ((it2 = (*it).second.find(IR_TYPE)) == (*it).second.end())
return 0;
return (*it2).second;
}
int getIRCycles(int number) const
{
std::map<int, std::map<int, int> >::const_iterator it;
std::map<int, int>::const_iterator it2;
if ((it = myIRMap.find(number)) == myIRMap.end())
return 0;
if ((it2 = (*it).second.find(IR_CYCLES)) == (*it).second.end())
return 0;
return (*it2).second;
}
/// Returns the number of sonar
int getNumSonar(void) const { return myNumSonar; }
/// Returns if the robot has a laser (according to param file)
/**
@deprecated
**/
bool getLaserPossessed(void) const
{
ArLog::log(ArLog::Normal, "Something called ArRobotParams::getLaserPossessed, but this is obsolete and doesn't mean anything.");
return false;
}
/// What type of laser this is
const char *getLaserType(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserType;
else
return NULL;
}
/// What type of port the laser is on
const char *getLaserPortType(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserPortType;
else
return NULL;
}
/// What port the laser is on
const char *getLaserPort(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserPort;
else
return NULL;
}
/// If the laser should be auto connected
bool getConnectLaser(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserAutoConnect;
else
return false;
}
/// If the laser is flipped on the robot
bool getLaserFlipped(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserFlipped;
else
return false;
}
/// If the laser power is controlled by the serial port lines
bool getLaserPowerControlled(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserPowerControlled;
else
return false;
}
/// The max range to use the laser
int getLaserMaxRange(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserMaxRange;
else
return 0;
}
/// The cumulative buffer size to use for the laser
int getLaserCumulativeBufferSize(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserCumulativeBufferSize;
else
return 0;
}
/// The X location of the laser
int getLaserX(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserX;
else
return 0;
}
/// The Y location of the laser
int getLaserY(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserY;
else
return 0;
}
/// The rotation of the laser on the robot
double getLaserTh(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserTh;
else
return 0;
}
/// The height of the laser off of the ground (0 means unknown)
int getLaserZ(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserZ;
else
return 0;
}
/// Gets the string that is the readings the laser should ignore
const char *getLaserIgnore(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserIgnore;
else
return NULL;
}
/// Gets the string that is the degrees the laser should start on
const char *getLaserStartDegrees(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserStartDegrees;
else
return NULL;
}
/// Gets the string that is the degrees the laser should end on
const char *getLaserEndDegrees(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserEndDegrees;
else
return NULL;
}
/// Gets the string that is choice for the number of degrees the laser should use
const char *getLaserDegreesChoice(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserDegreesChoice;
else
return NULL;
}
/// Gets the string that is choice for the increment the laser should use
const char *getLaserIncrement(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserIncrement;
else
return NULL;
}
/// Gets the string that is choice for increment the laser should use
const char *getLaserIncrementChoice(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserIncrementChoice;
else
return NULL;
}
/// Gets the string that is choice for units the laser should use
const char *getLaserUnitsChoice(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserUnitsChoice;
else
return NULL;
}
/// Gets the string that is choice for reflectorBits the laser should use
const char *getLaserReflectorBitsChoice(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserReflectorBitsChoice;
else
return NULL;
}
/// Gets the string that is choice for starting baud the laser should use
const char *getLaserStartingBaudChoice(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserStartingBaudChoice;
else
return NULL;
}
/// Gets the string that is choice for auto baud the laser should use
const char *getLaserAutoBaudChoice(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserAutoBaudChoice;
else
return NULL;
}
/// Gets the name of the section the laser information is in (this
/// mostly doesn't mean anything except for commercial)
const char *getLaserSection(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->mySection;
else
return NULL;
}
/// Gets which power output that turns the laser on/off
const char *getLaserPowerOutput(int laserNumber = 1) const
{
if (getLaserData(laserNumber) != NULL)
return getLaserData(laserNumber)->myLaserPowerOutput;
else
return NULL;
}
/// PS 8/21/12 - new code to support BatteryMTX
/// What type of battery this is
const char *getBatteryMTXBoardType (int batteryNumber = 1) const
{
if (getBatteryMTXBoardData (batteryNumber) != NULL)
return getBatteryMTXBoardData (batteryNumber)->myBatteryMTXBoardType;
else
return NULL;
}
/// What type of port the battery is on
const char *getBatteryMTXBoardPortType (int batteryNumber = 1) const
{
if (getBatteryMTXBoardData (batteryNumber) != NULL)
return getBatteryMTXBoardData (batteryNumber)->myBatteryMTXBoardPortType;
else
return NULL;
}
/// What port the battery is on
const char *getBatteryMTXBoardPort (int batteryNumber = 1) const
{
if (getBatteryMTXBoardData (batteryNumber) != NULL)
return getBatteryMTXBoardData (batteryNumber)->myBatteryMTXBoardPort;
else
return NULL;
}
/// Gets the int that is the baud for the battery
int getBatteryMTXBoardBaud (int batteryNumber = 1) const
{
if (getBatteryMTXBoardData (batteryNumber) != NULL)
return getBatteryMTXBoardData (batteryNumber)->myBatteryMTXBoardBaud;
else
return 0;
}
/// Gets a bool that specifies weather to auto connect or not
bool getBatteryMTXBoardAutoConn (int batteryNumber = 1) const
{
if (getBatteryMTXBoardData (batteryNumber) != NULL)
return getBatteryMTXBoardData (batteryNumber)->myBatteryMTXBoardAutoConn;
else
return false;
}
/// PS 9/4/12 - new code to support LCDMTX
/// What type of LCD this is
const char *getLCDMTXBoardType (int lcdNumber = 1) const
{
if (getLCDMTXBoardData (lcdNumber) != NULL)
return getLCDMTXBoardData (lcdNumber)->myLCDMTXBoardType;
else
return NULL;
}
/// What type of port the lcd is on
const char *getLCDMTXBoardPortType (int lcdNumber = 1) const
{
if (getLCDMTXBoardData (lcdNumber) != NULL)
return getLCDMTXBoardData (lcdNumber)->myLCDMTXBoardPortType;
else
return NULL;
}
/// What port the lcd is on
const char *getLCDMTXBoardPort (int lcdNumber = 1) const
{
if (getLCDMTXBoardData (lcdNumber) != NULL)
return getLCDMTXBoardData (lcdNumber)->myLCDMTXBoardPort;
else
return NULL;
}
/// Gets the int that is the baud for the lcd
int getLCDMTXBoardBaud (int lcdNumber = 1) const
{
if (getLCDMTXBoardData (lcdNumber) != NULL)
return getLCDMTXBoardData (lcdNumber)->myLCDMTXBoardBaud;
else
return 0;
}
/// Gets a bool that specifies weather to auto connect or not
bool getLCDMTXBoardAutoConn (int lcdNumber = 1) const
{
if (getLCDMTXBoardData (lcdNumber) != NULL)
return getLCDMTXBoardData (lcdNumber)->myLCDMTXBoardAutoConn;
else
return false;
}
/// Gets a bool that specifies weather to disconnect on conn failure or not
bool getLCDMTXBoardConnFailOption (int lcdNumber = 1) const
{
if (getLCDMTXBoardData (lcdNumber) != NULL)
return getLCDMTXBoardData (lcdNumber)->myLCDMTXBoardConnFailOption;
else
return false;
}
/// Gets which power controls this LCD
const char * getLCDMTXBoardPowerOutput (int lcdNumber = 1) const
{
if (getLCDMTXBoardData (lcdNumber) != NULL)
return getLCDMTXBoardData (lcdNumber)->myLCDMTXBoardPowerOutput;
else
return NULL;
}
/// PS 8/21/12 - new code to support SonarMTX
/// What type of sonar this is
const char *getSonarMTXBoardType (int sonarNumber = 1) const
{
if (getSonarMTXBoardData (sonarNumber) != NULL)
return getSonarMTXBoardData (sonarNumber)->mySonarMTXBoardType;
else
return NULL;
}
/// What type of port the sonar is on
const char *getSonarMTXBoardPortType (int sonarNumber = 1) const
{
if (getSonarMTXBoardData (sonarNumber) != NULL)
return getSonarMTXBoardData (sonarNumber)->mySonarMTXBoardPortType;
else
return NULL;
}
/// What port the sonar is on
const char *getSonarMTXBoardPort (int sonarNumber = 1) const
{
if (getSonarMTXBoardData (sonarNumber) != NULL)
return getSonarMTXBoardData (sonarNumber)->mySonarMTXBoardPort;
else
return NULL;
}
/// Gets the int that is the baud for the sonar
int getSonarMTXBoardBaud (int sonarNumber = 1) const
{
if (getSonarMTXBoardData (sonarNumber) != NULL)
return getSonarMTXBoardData (sonarNumber)->mySonarMTXBoardBaud;
else
return 0;
}
/// Gets a bool that specifies weather to auto connect or not
bool getSonarMTXBoardAutoConn (int sonarNumber = 1) const
{
if (getSonarMTXBoardData (sonarNumber) != NULL)
return getSonarMTXBoardData (sonarNumber)->mySonarMTXBoardAutoConn;
else
return false;
}
/// What delay the sonar board has
int getSonarMTXBoardDelay(int sonarBoardNum = 1) const
{
if (getSonarMTXBoardData(sonarBoardNum) != NULL)
return getSonarMTXBoardData(sonarBoardNum)->mySonarDelay;
else
return 0;
}
/// What default gain the sonar board has
int getSonarMTXBoardGain(int sonarBoardNum = 1) const
{
if (getSonarMTXBoardData(sonarBoardNum) != NULL)
return getSonarMTXBoardData(sonarBoardNum)->mySonarGain;
else
return 0;
}
/*
/// What delay the sonar has
int getSonarMTXBoardNoiseDelta(int sonarBoardNum = 1) const
{
if (getSonarMTXBoardData(sonarBoardNum) != NULL)
return getSonarMTXBoardData(sonarBoardNum)->mySonarGain;
else
return 0;
}
*/
/// What delay the sonar has
int getSonarMTXBoardDetectionThreshold(int sonarBoardNum = 1) const
{
if (getSonarMTXBoardData(sonarBoardNum) != NULL)
return getSonarMTXBoardData(sonarBoardNum)->mySonarDetectionThreshold;
else
return 0;
}
/// What max range the sonar has
int getSonarMTXBoardMaxRange(int sonarBoardNum = 1) const
{
if (getSonarMTXBoardData(sonarBoardNum) != NULL)
return getSonarMTXBoardData(sonarBoardNum)->mySonarMaxRange;
else
return 0;
}
/// What autonomous driving flage the sonar has
int getSonarMTXBoardUseForAutonomousDriving(int sonarBoardNum = 1) const
{
if (getSonarMTXBoardData(sonarBoardNum) != NULL)
return getSonarMTXBoardData(sonarBoardNum)->mySonarUseForAutonomousDriving;
else
return 0;
}
/// Gets which power output turns the sonar board on or off
const char *getSonarMTXBoardPowerOutput(int sonarBoardNum = 1) const
{
if (getSonarMTXBoardData(sonarBoardNum) != NULL)
return getSonarMTXBoardData(sonarBoardNum)->mySonarMTXBoardPowerOutput;
else
return NULL;
}
/// get number of units (ie transducers) configured on a specific board
int getNumSonarOnMTXBoard(int sonarBoardNum = 1) const
{
if (getSonarMTXBoardData(sonarBoardNum) != NULL)
return getSonarMTXBoardData(sonarBoardNum)->myNumSonarTransducers;
else
return 0;
}
/// get number of units (ie transducers) configued
int getNumSonarUnits() const
{
return myNumSonarUnits;
}
/// MPL TODO discuss boardNum here?
/// Returns if the sonar of the given number is valid
bool haveSonar(int boardNum) const
{
if (mySonarMap.find(boardNum) != mySonarMap.end())
return true;
else
return false;
}
/// Returns the X location of the given numbered sonar disc
int getSonarX(int number) const
{
std::map<int, std::map<int, int> >::const_iterator it;
std::map<int, int>::const_iterator it2;
if ((it = mySonarMap.find(number)) == mySonarMap.end())
return 0;
if ((it2 = (*it).second.find(SONAR_X)) == (*it).second.end())
return 0;
return (*it2).second;
}
/// Returns the Y location of the given numbered sonar disc
int getSonarY(int number) const
{
std::map<int, std::map<int, int> >::const_iterator it;
std::map<int, int>::const_iterator it2;
if ((it = mySonarMap.find(number)) == mySonarMap.end())
return 0;
if ((it2 = (*it).second.find(SONAR_Y)) == (*it).second.end())
return 0;
return (*it2).second;
}
/// Returns the heading of the given numbered sonar disc
int getSonarTh(int number) const
{
std::map<int, std::map<int, int> >::const_iterator it;
std::map<int, int>::const_iterator it2;
if ((it = mySonarMap.find(number)) == mySonarMap.end())
return 0;
if ((it2 = (*it).second.find(SONAR_TH)) == (*it).second.end())
return 0;
return (*it2).second;
}
/// Returns the gain of the given numbered sonar disc (only
/// valid for MTX sonar)
int getSonarGain(int number) const
{
std::map<int, std::map<int, int> >::const_iterator it;
std::map<int, int>::const_iterator it2;
if ((it = mySonarMap.find(number)) == mySonarMap.end())
return 0;
if ((it2 = (*it).second.find(SONAR_GAIN)) == (*it).second.end())
return 0;
return (*it2).second;
}
/// Returns the noise delta of the given numbered sonar disk (only
/// valid for MTX sonar)
/*
int getSonarNoiseDelta(int number) const
{
std::map<int, std::map<int, int> >::const_iterator it;
std::map<int, int>::const_iterator it2;
if ((it = mySonarMap.find(number)) == mySonarMap.end())
return 0;
if ((it2 = (*it).second.find(SONAR_NOISE_DELTA)) == (*it).second.end())
return 0;
return (*it2).second;
}
*/
/// Returns the detection threshold of the given numbered sonar disc (only
/// valid for MTX sonar)
int getSonarDetectionThreshold(int number) const
{
std::map<int, std::map<int, int> >::const_iterator it;
std::map<int, int>::const_iterator it2;
if ((it = mySonarMap.find(number)) == mySonarMap.end())
return 0;
if ((it2 = (*it).second.find(SONAR_DETECTION_THRESHOLD)) ==
(*it).second.end())
return 0;
return (*it2).second;
}
/// Returns the thres med of the given numbered sonar disc (only
/// valid for MTX sonar)
int getSonarMaxRange(int number) const
{
std::map<int, std::map<int, int> >::const_iterator it;
std::map<int, int>::const_iterator it2;
if ((it = mySonarMap.find(number)) == mySonarMap.end())
return 0;
if ((it2 = (*it).second.find(SONAR_MAX_RANGE)) ==
(*it).second.end())
return 0;
return (*it2).second;
}
/// Returns the useforautonomousdriving of the given numbered sonar disc (only
/// valid for MTX sonar)
int getSonarUseForAutonomousDriving(int number) const
{
std::map<int, std::map<int, int> >::const_iterator it;
std::map<int, int>::const_iterator it2;
if ((it = mySonarMap.find(number)) == mySonarMap.end())
return 0;
if ((it2 = (*it).second.find(SONAR_USE_FOR_AUTONOMOUS_DRIVING)) ==
(*it).second.end())
return 0;
return (*it2).second;
}
/// Returns the board a sonar is on
int getSonarMTXBoard(int number) const
{
std::map<int, std::map<int, int> >::const_iterator it;
std::map<int, int>::const_iterator it2;
if ((it = mySonarMap.find(number)) == mySonarMap.end())
return 0;
if ((it2 = (*it).second.find(SONAR_BOARD)) == (*it).second.end())
return 0;
return (*it2).second;
}
/// Returns the unit on the board a sonar transducer is on
int getSonarMTXBoardUnitPosition(int number) const
{
std::map<int, std::map<int, int> >::const_iterator it;
std::map<int, int>::const_iterator it2;
if ((it = mySonarMap.find(number)) == mySonarMap.end())
return 0;
if ((it2 = (*it).second.find(SONAR_BOARDUNITPOSITION)) == (*it).second.end())
return 0;
return (*it2).second;
}
/// Gets whether the VelMax values are settable or not
bool hasSettableVelMaxes(void) const { return mySettableVelMaxes; }
/// Gets the max trans vel from param file (0 uses microcontroller param)
int getTransVelMax(void) const { return myTransVelMax; }
/// Gets the max rot vel from param file (0 uses microcontroller param)
int getRotVelMax(void) const { return myRotVelMax; }
/// Whether the accelerations and decelerations are settable or not
bool hasSettableAccsDecs(void) const { return mySettableAccsDecs; }
/// Gets the trans accel from param file (0 uses microcontroller param)
int getTransAccel(void) const { return myTransAccel; }
/// Gets the trans decel from param file (0 uses microcontroller param)
int getTransDecel(void) const { return myTransDecel; }
/// Gets the rot accel from param file (0 uses microcontroller param)
int getRotAccel(void) const { return myRotAccel; }
/// Gets the rot decel from param file (0 uses microcontroller param)
int getRotDecel(void) const { return myRotDecel; }
/// Whether we have lateral control or not
bool hasLatVel(void) const { return myHasLatVel; }
/// Gets the max lat vel from param file (0 uses microcontroller param)
int getLatVelMax(void) const { return myTransVelMax; }
/// Gets the lat accel from param file (0 uses microcontroller param)
int getLatAccel(void) const { return myTransAccel; }
/// Gets the lat decel from param file (0 uses microcontroller param)
int getLatDecel(void) const { return myTransDecel; }
/// Saves it to the subtype.p in Aria::getDirectory/params
AREXPORT bool save(void);
/// The X (forward-back) location of the GPS (antenna) on the robot
int getGPSX() const { return myGPSX; }
/// The Y (left-right) location of the GPS (antenna) on the robot
int getGPSY() const { return myGPSY; }
/// The Baud rate to use when connecting to the GPS
int getGPSBaud() const { return myGPSBaud; }
/// The serial port the GPS is on
const char *getGPSPort() const { return myGPSPort; }
const char *getGPSType() const { return myGPSType; }
// The Baud rate to use when connecting to the Sonar
//int getSonarBaud() const { return mySonarBaud; }
/// The serial port the Sonar is on
//const char *getSonarPort() const { return mySonarPort; }
//const char *getSonarType() const { return mySonarType; }
/// What kind of compass the robot has
const char *getCompassType() const { return myCompassType; }
/// Gets what port the compass is on
const char *getCompassPort() const { return myCompassPort; }
/// For internal use only, gets a pointer to the dist conv factor value
double *internalGetDistConvFactorPointer(void) { return &myDistConvFactor; }
/// Internal function to set if we use the default behavior
/// (shouldn't be used outside of core developers)
static void internalSetUseDefaultBehavior(bool useDefaultBehavior,
const char *owerOutputDisplayHint);
/// Internal function to get if we use the default behavior
/// (shouldn't be used outside of core developers)
static bool internalGetUseDefaultBehavior(void);
/// Adds things to the config for the commercial software
void internalAddToConfigCommercial(ArConfig *config);
/// Internal call that adds to this config the same way it's always
/// been done (this is only exposed for some internal testing)
void internalAddToConfigDefault(void);
/// return a const reference to the video device parameters
const std::vector<ArVideoParams>& getVideoParams() const { return myVideoParams; }
/// return a const reference to the PTU/PTZ parameters
const std::vector<ArPTZParams>& getPTZParams() const { return myPTZParams; }
protected:
static bool ourUseDefaultBehavior;
static std::string ourPowerOutputChoices;
// Adds a laser to the config
AREXPORT void addLaserToConfig(int laserNumber, ArConfig *config,
bool useDefaultBehavior,
const char *section);
// Adds a battery to the config
AREXPORT void addBatteryToConfig(int batteryNumber, ArConfig *config,
bool useDefaultBehavior);
// Adds an LCD to the config
AREXPORT void addLCDToConfig(int lcdNumber, ArConfig *config,
bool useDefaultBehavior);
// Adds the sonar to the config (it's added automatically for
// non-commercial)
AREXPORT void addSonarToConfigCommercial(ArConfig *config, bool isMTXSonar);
// Processes the
AREXPORT void processSonarCommercial(ArConfig *config);
// Adds a sonarBoard to the config
AREXPORT void addSonarBoardToConfig(int sonarBoardNumber,
ArConfig *config,
bool useDefaultBehavior);
AREXPORT void addPTZToConfig(int i, ArConfig *config);
AREXPORT void addVideoToConfig(int i, ArConfig *config);
// Processes the config for commercial
AREXPORT bool commercialProcessFile(void);
char myClass[1024];
char mySubClass[1024];
double myRobotRadius;
double myRobotDiagonal;
double myRobotWidth;
double myRobotLength;
double myRobotLengthFront;
double myRobotLengthRear;
bool myHolonomic;
int myAbsoluteMaxRVelocity;
int myAbsoluteMaxVelocity;
bool myHaveMoveCommand;
bool myRequestIOPackets;
bool myRequestEncoderPackets;
int mySwitchToBaudRate;
double myAngleConvFactor;
double myDistConvFactor;
double myVelConvFactor;
double myRangeConvFactor;
double myDiffConvFactor;
double myVel2Divisor;
double myGyroScaler;
bool myTableSensingIR;
bool myNewTableSensingIR;
bool myFrontBumpers;
int myNumFrontBumpers;
bool myRearBumpers;
int myNumRearBumpers;
class LaserData
{
public:
LaserData()
{
myLaserType[0] = '\0';
myLaserPortType[0] = '\0';
myLaserPort[0] = '\0';
myLaserAutoConnect = false;
myLaserFlipped = false;
myLaserPowerControlled = true;
myLaserMaxRange = 0;
myLaserCumulativeBufferSize = 0;
myLaserX = 0;
myLaserY = 0;
myLaserTh = 0.0;
myLaserZ = 0;
myLaserIgnore[0] = '\0';
myLaserStartDegrees[0] = '\0';
myLaserEndDegrees[0] = '\0';
myLaserDegreesChoice[0] = '\0';
myLaserIncrement[0] = '\0';
myLaserIncrementChoice[0] = '\0';
myLaserUnitsChoice[0] = '\0';
myLaserReflectorBitsChoice[0] = '\0';
myLaserStartingBaudChoice[0] = '\0';
myLaserAutoBaudChoice[0] = '\0';
mySection[0] = '\0';
myLaserPowerOutput[0] = '\0';
}
virtual ~LaserData() {}
char myLaserType[256];
char myLaserPortType[256];
char myLaserPort[256];
bool myLaserAutoConnect;
bool myLaserFlipped;
bool myLaserPowerControlled;
unsigned int myLaserMaxRange;
unsigned int myLaserCumulativeBufferSize;
int myLaserX;
int myLaserY;
double myLaserTh;
int myLaserZ;
char myLaserIgnore[256];
char myLaserStartDegrees[256];
char myLaserEndDegrees[256];
char myLaserDegreesChoice[256];
char myLaserIncrement[256];
char myLaserIncrementChoice[256];
char myLaserUnitsChoice[256];
char myLaserReflectorBitsChoice[256];
char myLaserStartingBaudChoice[256];
char myLaserAutoBaudChoice[256];
char mySection[256];
char myLaserPowerOutput[256];
};
std::map<int, LaserData *> myLasers;
const LaserData *getLaserData(int laserNumber) const
{
std::map<int, LaserData *>::const_iterator it;
if ((it = myLasers.find(laserNumber)) != myLasers.end())
return (*it).second;
else
return NULL;
}
LaserData *getLaserData(int laserNumber)
{
std::map<int, LaserData *>::const_iterator it;
if ((it = myLasers.find(laserNumber)) != myLasers.end())
return (*it).second;
else
return NULL;
}
class BatteryMTXBoardData
{
public:
BatteryMTXBoardData()
{
myBatteryMTXBoardType[0] = '\0';
myBatteryMTXBoardPortType[0] = '\0';
//sprintf((char *)myBatteryMTXBoardPortType, "serial");
myBatteryMTXBoardPort[0] = '\0';
myBatteryMTXBoardBaud = 0;
myBatteryMTXBoardAutoConn = false;
}
virtual ~BatteryMTXBoardData() {}
char myBatteryMTXBoardType[256];
char myBatteryMTXBoardPortType[256];
char myBatteryMTXBoardPort[256];
int myBatteryMTXBoardBaud;
bool myBatteryMTXBoardAutoConn;
};
std::map<int, BatteryMTXBoardData *> myBatteryMTXBoards;
const BatteryMTXBoardData *getBatteryMTXBoardData(int batteryBoardNum) const
{
std::map<int, BatteryMTXBoardData *>::const_iterator it;
if ((it = myBatteryMTXBoards.find(batteryBoardNum)) != myBatteryMTXBoards.end())
return (*it).second;
else
return NULL;
}
BatteryMTXBoardData *getBatteryMTXBoardData(int batteryBoardNum)
{
std::map<int, BatteryMTXBoardData *>::const_iterator it;
if ((it = myBatteryMTXBoards.find(batteryBoardNum)) != myBatteryMTXBoards.end())
return (*it).second;
else
return NULL;
}
class LCDMTXBoardData
{
public:
LCDMTXBoardData()
{
myLCDMTXBoardType[0] = '\0';
myLCDMTXBoardPortType[0] = '\0';
//sprintf((char *)myLCDMTXBoardPortType, "serial");
myLCDMTXBoardPort[0] = '\0';
myLCDMTXBoardBaud = 0;
myLCDMTXBoardAutoConn = false;
myLCDMTXBoardConnFailOption = false;
myLCDMTXBoardPowerOutput[0] = '\0';
}
virtual ~LCDMTXBoardData() {}
char myLCDMTXBoardType[256];
char myLCDMTXBoardPortType[256];
char myLCDMTXBoardPort[256];
int myLCDMTXBoardBaud;
bool myLCDMTXBoardAutoConn;
bool myLCDMTXBoardConnFailOption;
char myLCDMTXBoardPowerOutput[256];
};
std::map<int, LCDMTXBoardData *> myLCDMTXBoards;
const LCDMTXBoardData *getLCDMTXBoardData(int lcdBoardNum) const
{
std::map<int, LCDMTXBoardData *>::const_iterator it;
if ((it = myLCDMTXBoards.find(lcdBoardNum)) != myLCDMTXBoards.end())
return (*it).second;
else
return NULL;
}
LCDMTXBoardData *getLCDMTXBoardData(int lcdBoardNum)
{
std::map<int, LCDMTXBoardData *>::const_iterator it;
if ((it = myLCDMTXBoards.find(lcdBoardNum)) != myLCDMTXBoards.end())
return (*it).second;
else
return NULL;
}
class SonarMTXBoardData
{
public:
SonarMTXBoardData()
{
mySonarMTXBoardType[0] = '\0';
mySonarMTXBoardPortType[0] = '\0';
mySonarMTXBoardPort[0] = '\0';
mySonarMTXBoardBaud = 0;
mySonarMTXBoardAutoConn = false;
myNumSonarTransducers = 0;
mySonarDelay = 2;
mySonarGain = 10;
/*
mySonarNoiseDelta = 1250;
*/
mySonarDetectionThreshold = 25;
mySonarMaxRange = 255 * 17;
mySonarUseForAutonomousDriving = false;
mySonarMTXBoardPowerOutput[0] = '\0';
}
virtual ~SonarMTXBoardData() {}
char mySonarMTXBoardType[256];
char mySonarMTXBoardPortType[256];
char mySonarMTXBoardPort[256];
int mySonarMTXBoardBaud;
bool mySonarMTXBoardAutoConn;
int myNumSonarTransducers;
int mySonarBaud;
int mySonarDelay;
int mySonarGain;
/*
int mySonarNoiseDelta;
*/
int mySonarDetectionThreshold;
int mySonarMaxRange;
bool mySonarUseForAutonomousDriving;
char mySonarMTXBoardPowerOutput[256];
};
std::map<int, SonarMTXBoardData *> mySonarMTXBoards;
const SonarMTXBoardData *getSonarMTXBoardData(int sonarBoardNum) const
{
std::map<int, SonarMTXBoardData *>::const_iterator it;
if ((it = mySonarMTXBoards.find(sonarBoardNum)) != mySonarMTXBoards.end())
return (*it).second;
else
return NULL;
}
SonarMTXBoardData *getSonarMTXBoardData(int sonarBoardNum)
{
std::map<int, SonarMTXBoardData *>::const_iterator it;
if ((it = mySonarMTXBoards.find(sonarBoardNum)) != mySonarMTXBoards.end())
return (*it).second;
else
return NULL;
}
bool mySettableVelMaxes;
int myTransVelMax;
int myRotVelMax;
bool mySettableAccsDecs;
int myTransAccel;
int myTransDecel;
int myRotAccel;
int myRotDecel;
bool myHasLatVel;
int myLatVelMax;
int myLatAccel;
int myLatDecel;
int myAbsoluteMaxLatVelocity;
// Sonar
int mySonarBoardCount;
int myNumSonarUnits;
int myNumSonar;
std::map<int, std::map<int, int> > mySonarMap;
enum SonarInfo
{
SONAR_X,
SONAR_Y,
SONAR_TH,
SONAR_BOARD,
SONAR_BOARDUNITPOSITION,
SONAR_GAIN,
/*
SONAR_NOISE_DELTA,
*/
SONAR_DETECTION_THRESHOLD,
SONAR_MAX_RANGE,
SONAR_USE_FOR_AUTONOMOUS_DRIVING
};
AREXPORT void internalSetSonar(int num, int x, int y, int th);
AREXPORT bool parseSonarUnit(ArArgumentBuilder *builder);
AREXPORT bool parseMTXSonarUnit(ArArgumentBuilder *builder);
AREXPORT const std::list<ArArgumentBuilder *> *getSonarUnits(void);
//AREXPORT const std::list<ArArgumentBuilder *> *getMTXSonarUnits(void);
std::list<ArArgumentBuilder *> myGetSonarUnitList;
ArRetFunctorC<const std::list<ArArgumentBuilder *> *, ArRobotParams> mySonarUnitGetFunctor;
ArRetFunctor1C<bool, ArRobotParams, ArArgumentBuilder *> mySonarUnitSetFunctor;
// Battery
int myBatteryMTXBoardCount;
// LCD
int myLCDMTXBoardCount;
// Sonar
int mySonarMTXBoardCount;
// IRs
int myNumIR;
std::map<int, std::map<int, int> > myIRMap;
enum IRInfo
{
IR_X,
IR_Y,
IR_TYPE,
IR_CYCLES
};
AREXPORT void internalSetIR(int num, int type, int cycles, int x, int y);
AREXPORT bool parseIRUnit(ArArgumentBuilder *builder);
AREXPORT const std::list<ArArgumentBuilder *> *getIRUnits(void);
std::list<ArArgumentBuilder *> myGetIRUnitList;
ArRetFunctorC<const std::list<ArArgumentBuilder *> *, ArRobotParams> myIRUnitGetFunctor;
ArRetFunctor1C<bool, ArRobotParams, ArArgumentBuilder *> myIRUnitSetFunctor;
// GPS
bool myGPSPossessed;
int myGPSX;
int myGPSY;
char myGPSPort[256];
char myGPSType[256];
int myGPSBaud;
// Sonar
//char mySonarPort[256];
//char mySonarType[256];
//int mySonarBaud;
// Compass
char myCompassType[256];
char myCompassPort[256];
// PTZ/PTU parameters
std::vector<ArPTZParams> myPTZParams;
// Video device parameters
std::vector<ArVideoParams> myVideoParams;
ArConfig *myCommercialConfig;
bool myCommercialAddedConnectables;
bool myCommercialProcessedSonar;
int myCommercialNumSonar;
int myCommercialMaxNumberOfLasers;
int myCommercialMaxNumberOfBatteries;
int myCommercialMaxNumberOfLCDs;
int myCommercialMaxNumberOfSonarBoards;
/// This lets us just have a straight mapping from the child
/// argument number to the sonar map above
std::map<int, int> myCommercialSonarFieldMap;
ArRetFunctorC<bool, ArRobotParams> myCommercialProcessFileCB;
};
#endif // ARROBOTPARAMS_H
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