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_);
}
RayDistanceSensor::
RayDistanceSensor (string const & name)
: Sensor (name),
distance_ (1.0),
max_distance_ (1.0)
{
reflectParameter ("max_distance", &max_distance_);
reflectParameter ("distance", &distance_);
}
Example(std::string const & name)
: fpplib::Configurable(name),
an_int_(17),
a_double_(42.0)
{
reflectParameter("an_int", &an_int_);
reflectParameter("a_double", &a_double_);
std::cout << "constructed an Example called " << name << "\n"
<< " an int: " << an_int_ << "\n"
<< " a double: " << a_double_ << "\n";
}
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_);
}
Esbot::
Esbot(std::string const &name)
: RobotClient(name),
m_radius(0.0),
m_speed(0.0),
m_grid_width(8), // override with option pnf_grid_width
m_grid_wdim(60), // override with option pnf_grid_wdim
m_goal(new Goal()),
m_carrot_trace(new carrot_trace()),
m_pose(new Frame()),
m_replan_request(false)
{
reflectParameter("pnf_grid_width", &m_grid_width);
reflectParameter("pnf_grid_wdim", &m_grid_wdim);
}
FixedCamera::
FixedCamera (string const & name)
: Camera (name, "looks at (fixed) bounds"),
bounds_ (0.0, 0.0, 1.0, 1.0)
{
reflectParameter ("bounds", &bounds_);
}
RobotClient::
RobotClient(std::string const &name)
: fpplib::Configurable(name),
m_enable_trajectory(true),
m_noisy_scanners(false),
m_scanner_noise_min_factor(-1), // factors <0 are ignored
m_scanner_noise_max_factor(-1),
m_scanner_noise_min_offset(-0.1), // if min>max then offsets are ignored
m_scanner_noise_max_offset( 0.1),
m_camera_zoom(2),
m_color(1.0, 1.0, 1.0)
{
registry.add(name, this);
reflectParameter("enable_trajectory", &m_enable_trajectory);
reflectParameter("noisy_scanners", &m_noisy_scanners);
reflectParameter("scanner_noise_min_factor", &m_scanner_noise_min_factor);
reflectParameter("scanner_noise_max_factor", &m_scanner_noise_max_factor);
reflectParameter("scanner_noise_min_offset", &m_scanner_noise_min_offset);
reflectParameter("scanner_noise_max_offset", &m_scanner_noise_max_offset);
reflectParameter("camera_zoom", &m_camera_zoom);
reflectCallback<qhgoal_s>("goals", true, boost::bind(&RobotClient::AppendGoal, this, _1));
reflectParameter("pose", &m_initial_pose);
reflectParameter("color", &m_color);
}
