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/*
* Copyright (C) 2018 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include "robot.hh"
using namespace ignition::plugin::examples;
namespace CrashBotLib {
/// \brief A robot that likes to crash into walls
class CrashBot
: public virtual Drive,
public virtual ProximitySensor
{
// Documentation inherited
public: double Frequency() const override
{
return 100.0;
}
// Documentation inherited
public: ignition::math::Vector3d Velocity() const override
{
// If the proximity sensor detects a wall, drive straight forward,
// aggressively into the wall
if (detectedWall)
return ignition::math::Vector3d(1.0, 0.0, 0.0);
// If we have not detected a wall, drive in a spiral, searching for a wall
return ignition::math::Vector3d(0.5, 0.0, 20.0*IGN_PI/180.0);
}
// Documentation inherited
public: double MaxRange() const override
{
return 4.0;
}
// Documentation inherited
public: void ReadProximity(const double _distance) override
{
detectedWall = !std::isinf(_distance);
}
/// \brief A flag to keep track of whether we've found a wall
public: bool detectedWall;
};
IGNITION_ADD_PLUGIN(CrashBot, Drive, ProximitySensor)
}
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