Revision cef78c70
ID | cef78c70971ce70bb324f5ec6261c3fcae6f786a |
Created Behavior class and a sample behavior using the class. Not tested.
scout/libscout/src/Behavior.cpp | ||
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/** |
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* Copyright (c) 2011 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file Behavior.cpp |
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* @brief Contains basic functions for the structure of all behaviours. |
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* |
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* Contains function implementations needed for all behavior. |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Priyanka Deo |
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**/ |
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#include "Behavior.h" |
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Behavior::init(int argc, char** argv) |
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{ |
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ros::init(argc, argv, "libscout"); |
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motors(node); |
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//buttons(node); |
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//sonar(node); |
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ros::Rate loop_rate(10); |
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} |
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Behavior::ok() |
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{ |
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return ros::ok() |
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} |
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Behavior::spin() |
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{ |
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ros::spin(); |
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return; |
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} |
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Behavior::spinOnce() |
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{ |
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ros::SpinOnce(); |
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return; |
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} |
scout/libscout/src/Behavior.h | ||
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/** |
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* Copyright (c) 2011 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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6 |
* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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15 |
* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file Behavior.h |
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* @brief Contains declarations for the structure of all behaviours. |
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* |
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* Contains functions and definitions for a generic behavior. |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Priyanka Deo |
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**/ |
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#ifdef _BEHAVIOR_H_ |
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#define _BEHAVIOR_H_ |
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#include "libscout.h" |
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class Behavior |
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{ |
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public: |
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ros::NodeHandle node; |
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ros::Rate loop_rate; |
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//Declare all used library controls |
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MotorControl motors; |
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//ButtonControl buttons; |
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//SonarControl sonar; |
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//Initializes ROS for behavior |
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void init(int argc, char** argv); |
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//User implemented behavior |
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virtual int main(int argc, char** argv) = 0; |
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//Wrappers for ROS functions |
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bool ok(); |
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void spin(); |
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void spinOnce(); |
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}; |
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#endif |
scout/libscout/src/priya_behavior.cpp | ||
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/** |
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* Copyright (c) 2011 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
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* OTHER DEALINGS IN THE SOFTWARE. |
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*/ |
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/** |
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* @file priya_behavior.cpp |
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* @brief A simple robot behavior, smart-runaround style, that uses |
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* the behavior class |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Alex Zirbel |
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* @author Priyanka Deo |
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*/ |
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#include "Behavior.h" |
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/** |
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* @brief Priya_Behavior A simple robot behavior. |
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* |
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* Inherits Behavior class which contains all basic behavior |
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* functionality. |
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*/ |
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class Priya_Behavior:Behavior |
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{ |
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/** |
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* @brief Main. The main function for the behavior. |
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* |
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* Defined in Behavior class as a virtual. Must be |
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* implemented in functional behaviors. |
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*/ |
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int main(int argc, char **argv) |
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{ |
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init(argc, argv); |
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while(ok()) |
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{ |
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motors.set_sides(20, 80, MOTOR_ABSOLUTE); |
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spinOnce(); |
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loop_rate.sleep(); |
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} |
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return 0; |
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} |
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}; |
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