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Added range sensors and basic collision avoidance.

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Wally Hackenslacker
2016-06-18 18:07:29 -04:00
parent 0804a2fc37
commit dfcc650f29
3 changed files with 42 additions and 12 deletions
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4
ant.world
View File

@@ -12,8 +12,8 @@ window
floorplan floorplan
( (
bitmap "maps/cave.png" bitmap "maps/hospital_section.png"
size [ 16.000 16.000 1.500 ] size [ 64 26 1.500 ]
) )
ant_bot ant_bot

6
ant_bot.inc
View File

@@ -2,14 +2,16 @@ define ant_sensor sensor
( (
size [0.01 0.05 0.01 ] size [0.01 0.05 0.01 ]
range [0 5.0] range [0 5.0]
fov 180 fov 60
samples 180 samples 1
color_rgba [ 0 1 0 0.2 ] color_rgba [ 0 1 0 0.2 ]
) )
define ant_sonars ranger define ant_sonars ranger
( (
ant_sensor( pose [ 0 0 0 -60 ] )
ant_sensor( pose [ 0 0 0 0 ] ) ant_sensor( pose [ 0 0 0 0 ] )
ant_sensor( pose [ 0 0 0 60 ] )
) )
define ant_bot position define ant_bot position

36
robot.cpp
View File

@@ -1,3 +1,28 @@
/*************************************************************************************
* Copyright (c) 2016, Miguel Angel Astor Romero *
* All rights reserved. *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
*************************************************************************************/
#include "robot.hpp" #include "robot.hpp"
Robot::Robot(std::string hostname, uint32_t port) { Robot::Robot(std::string hostname, uint32_t port) {
@@ -6,6 +31,7 @@ Robot::Robot(std::string hostname, uint32_t port) {
_r_proxy = new PlayerCc::RangerProxy(_p_client, 0); _r_proxy = new PlayerCc::RangerProxy(_p_client, 0);
_p_proxy->RequestGeom(); _p_proxy->RequestGeom();
_r_proxy->RequestGeom(); _r_proxy->RequestGeom();
_r_proxy->RequestConfigure();
} }
Robot::~Robot() { Robot::~Robot() {
@@ -26,13 +52,15 @@ IASSS_Robot::~IASSS_Robot() {
void IASSS_Robot::run() { void IASSS_Robot::run() {
_p_client->Read(); _p_client->Read();
if(_r_proxy->GetRange(0) < 0.2) { if(_r_proxy->GetRange(1) < 1.0) {
if(_r_proxy->GetRange(0) > 1.0)
_p_proxy->SetSpeed(0.0f, PlayerCc::dtor(-45)); _p_proxy->SetSpeed(0.0f, PlayerCc::dtor(-45));
sleep(1); else if(_r_proxy->GetRange(2) > 1.0)
} else if(_r_proxy->GetRange(_r_proxy->GetRangeCount()) < 0.2) {
_p_proxy->SetSpeed(0.0f, PlayerCc::dtor(45)); _p_proxy->SetSpeed(0.0f, PlayerCc::dtor(45));
sleep(1); else
_p_proxy->SetSpeed(0.0f, PlayerCc::dtor(180));
} else { } else {
_p_proxy->SetSpeed(0.3f, 0.0f); _p_proxy->SetSpeed(0.3f, 0.0f);
} }
sleep(1);
} }