LoLGMDExtricateEMD.C File Reference

This file defines the non-inline member functions of the lobot::LGMDExtricateEMD class. More...

#include "Robots/LoBot/control/LoLGMDExtricateEMD.H"
#include "Robots/LoBot/control/LoMetrics.H"
#include "Robots/LoBot/control/LoTurnArbiter.H"
#include "Robots/LoBot/control/LoSpinArbiter.H"
#include "Robots/LoBot/control/LoSpeedArbiter.H"
#include "Robots/LoBot/LoApp.H"
#include "Robots/LoBot/slam/LoMap.H"
#include "Robots/LoBot/config/LoConfigHelpers.H"
#include "Robots/LoBot/thread/LoUpdateLock.H"
#include "Robots/LoBot/misc/LoExcept.H"
#include "Robots/LoBot/misc/LoRegistry.H"
#include "Robots/LoBot/misc/singleton.hh"
#include "Robots/LoBot/util/LoGL.H"
#include "Robots/LoBot/util/LoMath.H"
#include <GL/gl.h>
#include <iomanip>
#include <sstream>
#include <algorithm>
#include <memory>

Include dependency graph for LoLGMDExtricateEMD.C:

Go to the source code of this file.

Functions
static std::string	lobot::mag (char label, const Vector &v)

---

Detailed Description

This file defines the non-inline member functions of the lobot::LGMDExtricateEMD class.

Definition in file LoLGMDExtricateEMD.C.

---

Variable Documentation

int m_extricate_pwm

In case the RPM sensor is configured to be off, we will need to specify the extricate "speed" in terms of PWM values as well.

NOTE: All speed related behaviours should specify both a speed in m/s and a PWM value.

CAUTION: For the extricate behaviour, it would be unwise to make the extrication PWM too high.

Definition at line 111 of file LoLGMDExtricateEMD.C.

float m_extricate_speed

Users may specify what speed they would like the extrication to occur.

CAUTION: It would be unwise to make this speed too high.

Definition at line 101 of file LoLGMDExtricateEMD.C.

Drawable::Geometry m_geometry

The location and size (within the Robolocust main window) of the lgmd_extricate_emd behaviour's visualization.

Definition at line 131 of file LoLGMDExtricateEMD.C.

bool m_spin_style_steering

Usually, steering control is effected using the turn arbiter, which veers the robot towards different direction while it moves. However, the lgmd_extricate behaviour also supports spin-style steering, i.e., momentarily stopping the robot and then turning it cw/ccw in-place. This flag turns on spin-style steering. By default, the behaviour uses the normal steering mode.

Definition at line 119 of file LoLGMDExtricateEMD.C.

float m_threshold

This behaviour's extrication commands will kick in only when the magnitude of the spiking vector computed by the EMD array exceeds the threshold specified by this setting.

Definition at line 95 of file LoLGMDExtricateEMD.C.

int m_update_delay

The number of milliseconds between successive iterations of this behaviour.

WARNING: The ability to change a behaviour's update frequency is a very powerful feature whose misuse or abuse can wreak havoc! Be sure to use reasonable values for this setting.

Definition at line 127 of file LoLGMDExtricateEMD.C.