KinematicControl::
KinematicControl (string const & name)
: Process (name),
kr_ (3.0),
kd_ (-1.5),
kg_ (8.0),
vtrans_max_ (-1.0),
vrot_max_ (-1.0),
drive_ (0),
enabled_ (true),
have_goal_ (false)
{
// OK this is subtle and counter-intuitive. If you set
// sequence_mode (the 2nd arg) to false, then the yaml parses
// fails with an invalid dereference. What happens is that it
// looks inside the sequence of 5 numbers that defines the goal,
// and the first member of that sequence is a scalar, but the Goal
// converter needs a vector. I need to find a way to produce an
// appropriate error message in this case.
//
reflectCallback<Goal> ("goal", false, boost::bind (&KinematicControl::setGoal, this, _1));
reflectParameter ("kr", &kr_);
reflectParameter ("kd", &kd_);
reflectParameter ("kg", &kg_);
reflectSlot ("drive", &drive_);
reflectParameter ("vtrans_max", &vtrans_max_);
reflectParameter ("vrot_max", &vrot_max_);
}
DifferentialTrailerDrive::
DifferentialTrailerDrive (string const & name)
: DifferentialDrive (name),
hitch_offset_ (1.0),
trailer_arm_ (1.0),
trailer_ (0),
trailer_angle_ (0.0)
{
reflectParameter ("hitch_offset", &hitch_offset_);
reflectParameter ("trailer_arm", &trailer_arm_);
reflectParameter ("trailer_angle", &trailer_angle_);
reflectSlot ("trailer", &trailer_);
}
