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Merge pull request #90 from ibis-ssl/add-skills
スキルシステムのアップデート
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crane_robot_skills/include/crane_robot_skills/robot_command_as_skill.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| // Copyright (c) 2023 ibis-ssl | ||
| // | ||
| // Use of this source code is governed by an MIT-style | ||
| // license that can be found in the LICENSE file or at | ||
| // https://opensource.org/licenses/MIT. | ||
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| #ifndef CRANE_ROBOT_SKILLS__ROBOT_COMMAND_AS_SKILL_HPP_ | ||
| #define CRANE_ROBOT_SKILLS__ROBOT_COMMAND_AS_SKILL_HPP_ | ||
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| #include <crane_geometry/eigen_adapter.hpp> | ||
| #include <crane_robot_skills/skill_base.hpp> | ||
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| namespace crane | ||
| { | ||
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| #define DEFINE_SKILL_COMMAND(name) \ | ||
| class Cmd##name : public SkillBase<> \ | ||
| { \ | ||
| public: \ | ||
| explicit Cmd##name(uint8_t id, std::shared_ptr<WorldModelWrapper> & world_model); \ | ||
| } | ||
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| DEFINE_SKILL_COMMAND(KickWithChip); | ||
| DEFINE_SKILL_COMMAND(KickStraight); | ||
| DEFINE_SKILL_COMMAND(Dribble); | ||
| DEFINE_SKILL_COMMAND(SetVelocity); | ||
| DEFINE_SKILL_COMMAND(SetTargetPosition); | ||
| DEFINE_SKILL_COMMAND(SetDribblerTargetPosition); | ||
| DEFINE_SKILL_COMMAND(SetTargetTheta); | ||
| DEFINE_SKILL_COMMAND(StopHere); | ||
| DEFINE_SKILL_COMMAND(DisablePlacementAvoidance); | ||
| DEFINE_SKILL_COMMAND(EnablePlacementAvoidance); | ||
| DEFINE_SKILL_COMMAND(DisableBallAvoidance); | ||
| DEFINE_SKILL_COMMAND(EnableBallAvoidance); | ||
| DEFINE_SKILL_COMMAND(DisableCollisionAvoidance); | ||
| DEFINE_SKILL_COMMAND(EnableCollisionAvoidance); | ||
| DEFINE_SKILL_COMMAND(DisableGoalAreaAvoidance); | ||
| DEFINE_SKILL_COMMAND(EnableGoalAreaAvoidance); | ||
| DEFINE_SKILL_COMMAND(SetGoalieDefault); | ||
| DEFINE_SKILL_COMMAND(EnableBallCenteringControl); | ||
| DEFINE_SKILL_COMMAND(EnableLocalGoalie); | ||
| DEFINE_SKILL_COMMAND(SetMaxVelocity); | ||
| DEFINE_SKILL_COMMAND(SetMaxAcceleration); | ||
| DEFINE_SKILL_COMMAND(SetMaxOmega); | ||
| DEFINE_SKILL_COMMAND(SetTerminalVelocity); | ||
| DEFINE_SKILL_COMMAND(LookAt); | ||
| DEFINE_SKILL_COMMAND(LookAtBall); | ||
| DEFINE_SKILL_COMMAND(LookAtBallFrom); | ||
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| } // namespace crane | ||
| #endif // CRANE_ROBOT_SKILLS__ROBOT_COMMAND_AS_SKILL_HPP_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,18 @@ | ||
| // Copyright (c) 2024 ibis-ssl | ||
| // | ||
| // Use of this source code is governed by an MIT-style | ||
| // license that can be found in the LICENSE file or at | ||
| // https://opensource.org/licenses/MIT. | ||
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| #ifndef CRANE_ROBOT_SKILLS__SKILLS_HPP_ | ||
| #define CRANE_ROBOT_SKILLS__SKILLS_HPP_ | ||
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| #include <crane_robot_skills/get_ball_contact.hpp> | ||
| #include <crane_robot_skills/idle.hpp> | ||
| #include <crane_robot_skills/move_to_geometry.hpp> | ||
| #include <crane_robot_skills/move_with_ball.hpp> | ||
| #include <crane_robot_skills/robot_command_as_skill.hpp> | ||
| #include <crane_robot_skills/sleep.hpp> | ||
| #include <crane_robot_skills/turn_around_point.hpp> | ||
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| #endif //CRANE_ROBOT_SKILLS__SKILLS_HPP_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| // Copyright (c) 2024 ibis-ssl | ||
| // | ||
| // Use of this source code is governed by an MIT-style | ||
| // license that can be found in the LICENSE file or at | ||
| // https://opensource.org/licenses/MIT. | ||
|
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| #ifndef CRANE_ROBOT_SKILLS__SLEEP_HPP_ | ||
| #define CRANE_ROBOT_SKILLS__SLEEP_HPP_ | ||
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| #include <crane_geometry/eigen_adapter.hpp> | ||
| #include <crane_robot_skills/skill_base.hpp> | ||
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| namespace crane | ||
| { | ||
| class Sleep : public SkillBase<> | ||
| { | ||
| public: | ||
| explicit Sleep(uint8_t id, std::shared_ptr<WorldModelWrapper> & world_model) | ||
| : SkillBase<>("Sleep", id, world_model, DefaultStates::DEFAULT) | ||
| { | ||
| setParameter("duration", 0.0); | ||
| addStateFunction( | ||
| DefaultStates::DEFAULT, | ||
| [this]( | ||
| const std::shared_ptr<WorldModelWrapper> & world_model, | ||
| const std::shared_ptr<RobotInfo> & robot, | ||
| crane::RobotCommandWrapper & command) -> SkillBase::Status { | ||
| if (not is_started) { | ||
| start_time = std::chrono::steady_clock::now(); | ||
| is_started = true; | ||
| } | ||
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| auto elapsed_time = | ||
| std::chrono::duration<double>(std::chrono::steady_clock::now() - start_time); | ||
| if (elapsed_time.count() > getParameter<double>("duration")) { | ||
| return SkillBase::Status::SUCCESS; | ||
| } else { | ||
| return SkillBase::Status::RUNNING; | ||
| } | ||
| }); | ||
| } | ||
| bool is_started = false; | ||
| std::chrono::time_point<std::chrono::steady_clock> start_time; | ||
| }; | ||
| } // namespace crane | ||
| #endif // CRANE_ROBOT_SKILLS__SLEEP_HPP_ |
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