ArActionAvoidSide Class Reference

Action to avoid impacts by firening into walls at a shallow angle. More...

#include <ArActionAvoidSide.h>

Inheritance diagram for ArActionAvoidSide:

List of all members.

Public Member Functions
	ArActionAvoidSide (const char *name="Avoid side", double obstacleDistance=300, double turnAmount=5)
	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	~ArActionAvoidSide ()
	Destructor.
Protected Attributes
ArActionDesired	myDesired
double	myObsDist
double	myTurnAmount
bool	myTurning

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Detailed Description

Action to avoid impacts by firening into walls at a shallow angle.

This action watches the sensors to see if it is close to firening into a wall at a shallow enough angle that other avoidance may not avoid.

Definition at line 38 of file ArActionAvoidSide.h.

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Constructor & Destructor Documentation

ArActionAvoidSide::ArActionAvoidSide (  const char *  name = "Avoid side", double  obstacleDistance = 300, double  turnAmount = 5 )

Constructor. Parameters: name  name of the action obstacleDistance  distance at which to start avoiding (mm) turnAmount  degrees at which to turn (deg) Definition at line 38 of file ArActionAvoidSide.cpp. References ArAction::setNextArgument().

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Member Function Documentation

ArActionDesired * ArActionAvoidSide::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 59 of file ArActionAvoidSide.cpp. References ArRobot::checkRangeDevicesCurrentPolar(), ArRobot::getRobotRadius(), ArActionDesired::reset(), ArActionDesired::setDeltaHeading(), and ArActionDesired::setVel().

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

• ArActionAvoidSide.h
• ArActionAvoidSide.cpp

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