ArActionAvoidFront Class Reference

This action does obstacle avoidance, controlling both trans and rot. More...

#include <ArActionAvoidFront.h>

Inheritance diagram for ArActionAvoidFront:

List of all members.

Public Member Functions
	ArActionAvoidFront (const char *name="avoid front obstacles", double obstacleDistance=450, double avoidVelocity=200, double turnAmount=15, bool useTableIRIfAvail=true)
	Constructor.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
	Fires the action, returning what the action wants to do.
virtual ArActionDesired *	getDesired (void)
	Gets what this action wants to do (for display purposes).
virtual	~ArActionAvoidFront ()
	Destructor.
Protected Attributes
double	myAvoidVel
ArFunctorC< ArActionAvoidFront >	myConnectCB
ArActionDesired	myDesired
double	myObsDist
ArSectors	myQuadrants
double	myTurnAmount
double	myTurnAmountParam
int	myTurning
bool	myUseTableIRIfAvail

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Detailed Description

This action does obstacle avoidance, controlling both trans and rot.

This action uses whatever available range device have been added to the robot to avoid obstacles. See the ArActionAvoidFront constructor documentation to see the parameters it takes.

Also note that this action does something most others don't, which is to check for a specific piece of hardware. This is the tableSensingIR. If this is set up in the parameters for the robot, it will use DigIn0 and DigIn1, where the tableSensingIRs are connected. Note that if you make useTableIRIfAvail false in the constructor it'll ignore these. Whether the action thinks the robot has them or not depends on the value of tableSensingIR in the parameter file for that robot.

Definition at line 50 of file ArActionAvoidFront.h.

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Constructor & Destructor Documentation

ArActionAvoidFront::ArActionAvoidFront (  const char *  name = "avoid front obstacles", double  obstacleDistance = 450, double  avoidVelocity = 200, double  turnAmount = 15, bool  useTableIRIfAvail = true )

Constructor. Parameters: name  the name of the action obstacleDistance  distance at which to turn. (mm) avoidVelocity  Speed at which to go while avoiding an obstacle. (mm/sec) turnAmount  Degrees to turn relative to current heading while avoiding obstacle (deg) useTableIRIfAvail  Whether to use the table sensing IR if they are available Definition at line 45 of file ArActionAvoidFront.cpp. References ArAction::setNextArgument().

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Member Function Documentation

ArActionDesired * ArActionAvoidFront::fire (  ArActionDesired  currentDesired  )  [virtual]

Fires the action, returning what the action wants to do. Parameters: currentDesired  this is what the current resolver has for its desired, this is SOLELY for the purpose of giving information to the action Returns: pointer to what this action wants to do, NULL if it wants to do nothing Implements ArAction. Definition at line 76 of file ArActionAvoidFront.cpp. References ArRobot::checkRangeDevicesCurrentPolar(), ArSectors::clear(), ArSectors::didAll(), ArActionDesired::getDeltaHeadingStrength(), ArRobot::getRobotRadius(), ArRobot::getTh(), ArRobot::hasTableSensingIR(), ArRobot::isLeftTableSensingIRTriggered(), ArRobot::isRightTableSensingIRTriggered(), ArActionDesired::reset(), ArActionDesired::setDeltaHeading(), ArActionDesired::setVel(), and ArSectors::update().

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The documentation for this class was generated from the following files:

• ArActionAvoidFront.h
• ArActionAvoidFront.cpp

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