[Robotflow-cvs] RobotFlow/Behaviors/src AvoidPat.cc,1.5,1.6 RangeFashion.cc,1.5,1.6 SafeVelocityPat.cc,1.5,1.6

[Fernyqc <fe...@us...>]

Update of /cvsroot/robotflow/RobotFlow/Behaviors/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11892

Modified Files:
	AvoidPat.cc RangeFashion.cc SafeVelocityPat.cc 
Log Message:
AvoidPat and RangeFashion -> parameters modifications
SafeVelocity -> Allow backward motion


Index: RangeFashion.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/RangeFashion.cc,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** RangeFashion.cc	3 Jul 2005 04:35:47 -0000	1.5
--- RangeFashion.cc	4 Jul 2005 11:21:11 -0000	1.6
***************
*** 41,57 ****
   * @input_description Behavior activation
   *
!  * @input_name LASERS
   * @input_type Vector<int>
   * @input_description All lasers reading.
   *
!  * @input_name SONARS
   * @input_type Vector<int>
   * @input_description All sonars reading.
   *
!  * @input_name IRS
   * @input_type Vector<int>
   * @input_description All IRs reading.
   *
!  * @output_name PERCEPT
   * @output_type Vector<int>
   * @output_description Percept after fusion
--- 41,57 ----
   * @input_description Behavior activation
   *
!  * @input_name LASER
   * @input_type Vector<int>
   * @input_description All lasers reading.
   *
!  * @input_name SONAR
   * @input_type Vector<int>
   * @input_description All sonars reading.
   *
!  * @input_name IR
   * @input_type Vector<int>
   * @input_description All IRs reading.
   *
!  * @output_name RANGE_BELT
   * @output_type Vector<int>
   * @output_description Percept after fusion
***************
*** 215,224 ****
  
       //inputs
!      laserID = addInput("LASERS");
!      sonarID = addInput("SONARS");
!      irID = addInput("IRS");
  
       //outputs
!      perceptID = addOutput("PERCEPT");
       
       // parameters
--- 215,224 ----
  
       //inputs
!      laserID = addInput("LASER");
!      sonarID = addInput("SONAR");
!      irID = addInput("IR");
  
       //outputs
!      perceptID = addOutput("RANGE_BELT");
       
       // parameters

Index: SafeVelocityPat.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/SafeVelocityPat.cc,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** SafeVelocityPat.cc	3 Jul 2005 23:54:19 -0000	1.5
--- SafeVelocityPat.cc	4 Jul 2005 11:21:11 -0000	1.6
***************
*** 146,153 ****
           // Determine the security distance
           int velIn = dereference_cast<int>(velInRef);
           float securityDist = 0;
!          if(abs(velIn) < m_min_vel)
               securityDist = m_min_distance;
!          else securityDist = m_slope*abs(velIn) + m_b;
           
           // Evaluate the security margin around the robot
--- 146,156 ----
           // Determine the security distance
           int velIn = dereference_cast<int>(velInRef);
+          int signVelIn = (velIn<0)?-1:1;
+          velIn = abs(velIn);
+          
           float securityDist = 0;
!          if(velIn < m_min_vel)
               securityDist = m_min_distance;
!          else securityDist = m_slope*velIn + m_b;
           
           // Evaluate the security margin around the robot
***************
*** 213,216 ****
--- 216,225 ----
           if((velOut < m_min_vel) && (velIn > m_min_vel))
               velOut = m_min_vel;
+ 
+          // Saturate the speed output (security)
+          if(velOut > m_max_vel) velOut = m_max_vel;
+          
+          // Backward/Forward
+          velOut *= signVelIn;
           
           // Debugging purpose only

Index: AvoidPat.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/AvoidPat.cc,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** AvoidPat.cc	4 Jul 2005 03:36:24 -0000	1.5
--- AvoidPat.cc	4 Jul 2005 11:21:11 -0000	1.6
***************
*** 40,52 ****
   * @input_description Behavior activation
   *
!  * @input_name DIST_OBSTACLE
   * @input_type Vector<int>
!  * @input_description Distance of the obstacle to the robot
   *
!  * @input_name VELOCITY_IN
   * @input_type int
   * @input_description Actual velocity of the robot
   *
!  * @output_name VELOCITY_OUT
   * @output_type int
   * @output_description Velocity value
--- 40,52 ----
   * @input_description Behavior activation
   *
!  * @input_name RANGE_BELT
   * @input_type Vector<int>
!  * @input_description Range mesure around the robot
   *
!  * @input_name ACTUAL_VELOCITY
   * @input_type int
   * @input_description Actual velocity of the robot
   *
!  * @output_name VELOCITY
   * @output_type int
   * @output_description Velocity value
***************
*** 188,196 ****
  
       //inputs
!      rangeID = addInput("DIST_OBSTACLE");
!      velocityInID = addInput("VELOCITY_IN");
       
       //outputs
!      velocityOutID = addOutput("VELOCITY_OUT");
       rotationID = addOutput("ROTATION");
  
--- 188,196 ----
  
       //inputs
!      rangeID = addInput("RANGE_BELT");
!      velocityInID = addInput("ACTUAL_VELOCITY");
       
       //outputs
!      velocityOutID = addOutput("VELOCITY");
       rotationID = addOutput("ROTATION");