laelaps::LaeKinAction Class Reference

Laelaps kinematics base action class. More...

#include <laeKin.h>

Inheritance diagram for laelaps::LaeKinAction:

Public Types
enum	ActionType {   ActionTypeIdle,   ActionTypeVelocity,   ActionTypeDutyCycle,   ActionTypeTwist,   ActionTypeNavForDist,   ActionTypeNavToPos }
	Supported kinematic extended actions. More...
enum	ActionState {   ActionStateIdle,   ActionStateUpdate,   ActionStatePlan,   ActionStateExecute,   ActionStateTerminated }
	Action states. More...

Public Member Functions
	LaeKinAction (LaeKinematics &kin, ActionType eActionType=ActionTypeIdle)
	Default intialization constructor. More...
virtual	~LaeKinAction ()
	Destructor.
virtual int	plan ()
	Plan next execution. More...
virtual int	execute ()
	Execution [sub]action. More...
virtual int	terminate ()
	Terminate action. More...
virtual bool	isIdle ()
	Test if action is idle. More...
virtual bool	isPlanningRequired ()
	Test if action requires (re)planning. More...
virtual bool	isExecutionRequired () const
	Test if more action requires (more) execution. More...
virtual bool	hasTerminated () const
	Test if action has been terminated. More...
virtual ActionType	getActionType () const
	Get the action type for this class. More...
virtual ActionState	getActionState () const
	Get the action state. More...

Static Public Member Functions
static LaeKinAction *	newAction (LaeKinematics &kin, const ActionType eActionType)
	Archetype constructor to create action type instance. More...
static LaeKinAction *	replaceAction (LaeKinematics &kin, LaeKinAction *pAction, const ActionType eNewActionType)
	Archetype constructor to replace action type instance. More...

Protected Attributes
LaeKinematics &	m_kin
	bound kinematics driver
ActionType	m_eActionType
	action type enum
ActionState	m_eActionState
	action state.

Detailed Description

Laelaps kinematics base action class.

An action spans multiple kinematic control cycles. For example, navigating to a goal position.

The base class has no action.

Definition at line 774 of file laeKin.h.

Member Enumeration Documentation

enum laelaps::LaeKinAction::ActionState

Action states.

Enumerator
ActionStateIdle	no action
ActionStateUpdate	update action specific data
ActionStatePlan	plan action
ActionStateExecute	execute action
ActionStateTerminated	action terminated

Definition at line 793 of file laeKin.h.

    {
      ActionStateIdle,        ///< no action
      ActionStateUpdate,      ///< update action specific data
      ActionStatePlan,        ///< plan action
      ActionStateExecute,     ///< execute action
      ActionStateTerminated   ///< action terminated
    };

enum laelaps::LaeKinAction::ActionType

Supported kinematic extended actions.

Enumerator
ActionTypeIdle	idle action
ActionTypeVelocity	move by angular velocities
ActionTypeDutyCycle	move by motor duty cycles
ActionTypeTwist	move robot by twist values
ActionTypeNavForDist	navigate for distances
ActionTypeNavToPos	navigate to positions

Definition at line 780 of file laeKin.h.

    {
      ActionTypeIdle,       ///< idle action
      ActionTypeVelocity,   ///< move by angular velocities
      ActionTypeDutyCycle,  ///< move by motor duty cycles
      ActionTypeTwist,      ///< move robot by twist values
      ActionTypeNavForDist, ///< navigate for distances
      ActionTypeNavToPos    ///< navigate to positions
    };

Constructor & Destructor Documentation

laelaps::LaeKinAction::LaeKinAction ( LaeKinematics &  kin, ActionType  eActionType = ActionTypeIdle  )

inline

Default intialization constructor.

Parameters

kin	Bound kinemeatics driver.
eAction	Action type.

Definition at line 808 of file laeKin.h.

                                                                            :
          m_kin(kin), m_eActionType(eActionType)
    {
      m_eActionState = ActionStateIdle;
    }

Member Function Documentation

virtual int laelaps::LaeKinAction::execute ( )

inlinevirtual

Execution [sub]action.

Hardware is updated as needed.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Reimplemented in laelaps::LaeKinActionTwist, laelaps::LaeKinActionDutyCycle, and laelaps::LaeKinActionVelocity.

Definition at line 866 of file laeKin.h.

References laelaps::LAE_OK.

Referenced by laelaps::LaeKinActionVelocity::execute(), laelaps::LaeKinActionDutyCycle::execute(), and laelaps::LaeKinActionTwist::execute().

    {
      return LAE_OK;
    }

virtual ActionState laelaps::LaeKinAction::getActionState ( ) const

inlinevirtual

Get the action state.

Returns

Action state enum.

Definition at line 942 of file laeKin.h.

    {
      return m_eActionState;
    }

virtual ActionType laelaps::LaeKinAction::getActionType ( ) const

inlinevirtual

Get the action type for this class.

Returns

Action type enum.

Definition at line 932 of file laeKin.h.

    {
      return m_eActionType;
    }

virtual bool laelaps::LaeKinAction::hasTerminated ( ) const

inlinevirtual

Test if action has been terminated.

Note

An action may not have any more tasks to perform, but has NOT been terminated.

Returns

Returns true or false.

Definition at line 922 of file laeKin.h.

Referenced by laelaps::LaeKinActionVelocity::terminate(), laelaps::LaeKinActionDutyCycle::terminate(), and laelaps::LaeKinActionTwist::terminate().

    {
      return m_eActionState == ActionStateTerminated;
    }

virtual bool laelaps::LaeKinAction::isExecutionRequired ( ) const

inlinevirtual

Test if more action requires (more) execution.

Returns

Returns true or false.

Definition at line 909 of file laeKin.h.

Referenced by laelaps::LaeKinActionVelocity::execute(), laelaps::LaeKinActionDutyCycle::execute(), laelaps::LaeKinActionTwist::execute(), laelaps::LaeKinematics::setGoalDutyCycles(), laelaps::LaeKinematics::setGoalTwist(), and laelaps::LaeKinematics::setGoalVelocities().

    {
      return m_eActionState == ActionStateExecute;
    }

virtual bool laelaps::LaeKinAction::isIdle ( )

inlinevirtual

Test if action is idle.

Returns

Returns true or false.

Definition at line 889 of file laeKin.h.

    {
      return m_eActionState == ActionStateIdle;
    }

virtual bool laelaps::LaeKinAction::isPlanningRequired ( )

inlinevirtual

Test if action requires (re)planning.

Returns

Returns true or false.

Definition at line 899 of file laeKin.h.

Referenced by laelaps::LaeKinActionVelocity::plan(), laelaps::LaeKinActionTwist::plan(), laelaps::LaeKinematics::setGoalDutyCycles(), laelaps::LaeKinematics::setGoalTwist(), and laelaps::LaeKinematics::setGoalVelocities().

    {
      return m_eActionState == ActionStatePlan;
    }

LaeKinAction * LaeKinAction::newAction ( LaeKinematics &  kin, const ActionType  eActionType  )

static

Archetype constructor to create action type instance.

Parameters

kin	Bound kinemeatics driver.
eAction	Action type to create.

Returns

Pointer to new allocated instance.

Definition at line 1638 of file laeKin.cxx.

{
  switch( eActionType )
  {
    case ActionTypeVelocity:
      return new LaeKinActionVelocity(kin);
    case ActionTypeDutyCycle:
      return new LaeKinActionDutyCycle(kin);
    case ActionTypeTwist:
      return new LaeKinActionTwist(kin);
    case ActionTypeNavForDist:        // future
    case ActionTypeNavToPos:          // future
      return new LaeKinAction(kin);
    case ActionTypeIdle:
      return new LaeKinAction(kin);
    default:
      return new LaeKinAction(kin);
  }
}

virtual int laelaps::LaeKinAction::plan ( )

inlinevirtual

Plan next execution.

No hardware is touched.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Reimplemented in laelaps::LaeKinActionTwist, and laelaps::LaeKinActionVelocity.

Definition at line 854 of file laeKin.h.

References laelaps::LAE_OK.

Referenced by laelaps::LaeKinActionVelocity::plan(), laelaps::LaeKinActionTwist::plan(), and laelaps::LaeKinematics::setGoalDutyCycles().

    {
      return LAE_OK;
    }

LaeKinAction * LaeKinAction::replaceAction ( LaeKinematics &  kin, LaeKinAction *  pAction, const ActionType  eNewActionType  )

static

Archetype constructor to replace action type instance.

Parameters

kin	Bound kinemeatics driver.
pAction	Pointer to current action to be terminated and deleted. The pointer is no long valid after this function returns.
eAction	New action type to create.

Returns

Pointer to new allocated instance.

Definition at line 1659 of file laeKin.cxx.

References terminate().

{
  if( pAction != NULL )
  {
    pAction->terminate();
    delete pAction;
  }

  return newAction(kin, eNewActionType);
}

virtual int laelaps::LaeKinAction::terminate ( )

inlinevirtual

Terminate action.

Hardware is updated as needed. The robot should be stopped.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Reimplemented in laelaps::LaeKinActionTwist, laelaps::LaeKinActionDutyCycle, and laelaps::LaeKinActionVelocity.

Definition at line 878 of file laeKin.h.

References laelaps::LAE_OK.

Referenced by replaceAction(), laelaps::LaeKinActionVelocity::terminate(), laelaps::LaeKinActionDutyCycle::terminate(), and laelaps::LaeKinActionTwist::terminate().

    {
      m_eActionState = ActionStateTerminated;
      return LAE_OK;
    }

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The documentation for this class was generated from the following files:

• include/Laelaps/laeKin.h
• sw/liblaelaps/laeKin.cxx