C++ ArRobot::setAbsoluteMaxTransVel方法代码示例

//.........这里部分代码省略.........
    // IRs if the robot has them.
    robot.lock();
    ArIRs irs;
    robot.addRangeDevice(&irs);

    // Bumpers.
    ArBumpers bumpers;
    robot.addRangeDevice(&bumpers);


    // cause the sonar to turn off automatically
    // when the robot is stopped, and turn it back on when commands to move
    // are sent. (Note, this should not be done if you need the sonar
    // data to localize, or for other purposes while stopped)
    ArSonarAutoDisabler sonarAutoDisabler(&robot);



    // Read in parameter files.
    Aria::getConfig()->useArgumentParser(&parser);
    if (!Aria::getConfig()->parseFile(Arnl::getTypicalParamFileName()))
    {
        ArLog::log(ArLog::Normal, "Trouble loading configuration file, exiting");
        Aria::exit(5);
    }




    //Configuracion del laser
    sick->setMinDistBetweenCurrent(0);

    robot.enableMotors();
    robot.setAbsoluteMaxTransVel(1000);

    /* Finally, get ready to run the robot: */
    robot.unlock();



    Controlador driver(&robot);

    if(exist_data_index){
    	driver.setDataIndex(data_index);
    }

    driver.runAsync();


    ControlHandler handler(&driver,&robot);
    // Use manual key handler
    //handler.addKeyHandlers(&robot);
    robot.addSensorInterpTask("ManualKeyHandler",50,handler.getFunctor());
    ArLog::log(ArLog::Normal ,"Añadido manejador teclado\n");

int main(void)
{
  ArSerialConnection con;
  ArRobot robot;
  int ret;
  std::string str;
  ArActionLimiterForwards limiter("speed limiter near", 300, 600, 250);
  ArActionLimiterForwards limiterFar("speed limiter far", 300, 1100, 400);
  ArActionLimiterBackwards backwardsLimiter;
  ArActionConstantVelocity stop("stop", 0);
  ArActionConstantVelocity backup("backup", -200);
  ArSonarDevice sonar;
  ArACTS_1_2 acts;
  ArGripper gripper(&robot);
  ArSonyPTZ sony(&robot);

  Acquire acq(&acts);
  DriveTo driveTo(&acts, &gripper, &sony);
  PickUp pickUp(&acts, &gripper, &sony);

  TakeBlockToWall takeBlock(&robot, &gripper, &sony, &acq, &driveTo, &pickUp,
			    &backup);

  Aria::init();

  acts.openPort(&robot);
  
  robot.addRangeDevice(&sonar);
  if ((ret = con.open()) != 0)
  {
    str = con.getOpenMessage(ret);
    printf("Open failed: %s\n", str.c_str());
    Aria::shutdown();
    return 1;
  }
  
  robot.setDeviceConnection(&con);
  if (!robot.blockingConnect())
  {
    printf("Could not connect to robot... exiting\n");
    Aria::shutdown();
    return 1;
  }

  sony.init();
  ArUtil::sleep(1000);
  robot.setAbsoluteMaxTransVel(400);

  robot.comInt(ArCommands::ENABLE, 1);
  robot.comInt(ArCommands::SOUNDTOG, 0);
  ArUtil::sleep(200);
  robot.addAction(&limiter, 100);
  robot.addAction(&limiterFar, 99);
  robot.addAction(&backwardsLimiter, 98);
  robot.addAction(&acq, 77);
  robot.addAction(&driveTo, 76);
  robot.addAction(&pickUp, 75);
  robot.addAction(&backup, 50);
  robot.addAction(&stop, 30);

  robot.run(true);
  
  Aria::shutdown();
  return 0;
}

int main(void)
{
  ArSerialConnection con;
  ArRobot robot;
  int ret;
  std::string str;
  ArActionLimiterForwards limiter("speed limiter near", 225, 600, 250);
  ArActionLimiterForwards limiterFar("speed limiter far", 225, 1100, 400);
  ArActionTableSensorLimiter tableLimiter;
  ArActionLimiterBackwards backwardsLimiter;
  ArActionConstantVelocity stop("stop", 0);
  ArSonarDevice sonar;
  ArACTS_1_2 acts;
  ArPTZ *ptz;
  ptz = new ArVCC4(&robot, true);
  ArGripper gripper(&robot);
  
  Acquire acq(&acts, &gripper);
  DriveTo driveTo(&acts, &gripper, ptz);
  DropOff dropOff(&acts, &gripper, ptz);
  PickUp pickUp(&acts, &gripper, ptz);
  

  TakeBlockToWall takeBlock(&robot, &gripper, ptz, &acq, &driveTo, &pickUp,
			    &dropOff, &tableLimiter);

  if (!acts.openPort(&robot))
  {
    printf("Could not connect to acts, exiting\n");
    exit(0);    
  }
  Aria::init();
  
  robot.addRangeDevice(&sonar);
  //con.setBaud(38400);
  if ((ret = con.open()) != 0)
  {
    str = con.getOpenMessage(ret);
    printf("Open failed: %s\n", str.c_str());
    Aria::shutdown();
    return 1;
  }

  robot.setDeviceConnection(&con);
  if (!robot.blockingConnect())
  {
    printf("Could not connect to robot... exiting\n");
    Aria::shutdown();
    return 1;
  }

  ptz->init();
  ArUtil::sleep(8000);
  printf("### 2222\n");
  ptz->panTilt(0, -40);
  printf("### whee\n");
  ArUtil::sleep(8000);
  robot.setAbsoluteMaxTransVel(400);

  robot.setStateReflectionRefreshTime(250);
  robot.comInt(ArCommands::ENABLE, 1);
  robot.comInt(ArCommands::SOUNDTOG, 0);

  ArUtil::sleep(200);
  robot.addAction(&tableLimiter, 100);
  robot.addAction(&limiter, 99);
  robot.addAction(&limiterFar, 98);
  robot.addAction(&backwardsLimiter, 97);
  robot.addAction(&acq, 77);
  robot.addAction(&driveTo, 76);
  robot.addAction(&pickUp, 75);
  robot.addAction(&dropOff, 74);
  robot.addAction(&stop, 30);

  robot.run(true);
  
  Aria::shutdown();
  return 0;
}

int main(int argc, char **argv)
{
    Aria::init();
    ArArgumentParser parser(&argc, argv);
    parser.loadDefaultArguments();
    ArRobot robot;
    ArRobotConnector robotConnector(&parser, &robot);
    if(!robotConnector.connectRobot())
    {
      ArLog::log(ArLog::Terse, "teleopActionsExample: Could not connect to the robot.");
      if(parser.checkHelpAndWarnUnparsed())
      {
          Aria::logOptions();
          Aria::exit(1);
      }
    }
    if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
    {
      Aria::logOptions();
      Aria::exit(1);
    }
    ArLog::log(ArLog::Normal, "teleopActionsExample: Connected.");

  
  // limiter for close obstacles
  ArActionLimiterForwards limiter("speed limiter near", 300, 600, 250);
  // limiter for far away obstacles
  ArActionLimiterForwards limiterFar("speed limiter far", 300, 1100, 400);
  // limiter that checks IR sensors (like Peoplebot has)
  ArActionLimiterTableSensor tableLimiter;
  // limiter so we don't bump things backwards
  ArActionLimiterBackwards backwardsLimiter;
  // the joydrive action
  ArActionJoydrive joydriveAct;
  // the keydrive action
  ArActionKeydrive keydriveAct;
  
  // sonar device, used by the limiter actions.
  ArSonarDevice sonar;



  printf("This program will allow you to use a joystick or keyboard to control the robot.\nYou can use the arrow keys to drive, and the spacebar to stop.\nFor joystick control press the trigger button and then drive.\nPress escape to exit.\n");

  // if we don't have a joystick, let 'em know
  if (!joydriveAct.joystickInited())
    printf("Do not have a joystick, only the arrow keys on the keyboard will work.\n");
  
  // add the sonar to the robot
  robot.addRangeDevice(&sonar);


  // set the robots maximum velocity (sonar don't work at all well if you're
  // going faster)
  robot.setAbsoluteMaxTransVel(400);

  // enable the motor
  robot.enableMotors();

  // Add the actions, with the limiters as highest priority, then the teleop.
  // actions.  This will keep the teleop. actions from being able to drive too 
  // fast and hit something
  robot.addAction(&tableLimiter, 100);
  robot.addAction(&limiter, 95);
  robot.addAction(&limiterFar, 90);
  robot.addAction(&backwardsLimiter, 85);
  robot.addAction(&joydriveAct, 50);
  robot.addAction(&keydriveAct, 45);

  // Configure the joydrive action so it will let the lower priority actions
  // (i.e. keydriveAct) request motion if the joystick button is
  // not pressed.
  joydriveAct.setStopIfNoButtonPressed(false);

  
  // run the robot, true means that the run will exit if connection lost
  robot.run(true);
  
  Aria::exit(0);
}