ArActionBumpers Class Reference

Action to deal with if the bumpers trigger. More...

#include <ArActionBumpers.h>

Inheritance diagram for ArActionBumpers:

List of all members.

Public Member Functions
	ArActionBumpers (const char *name="bumpers", double backOffSpeed=100, int backOffTime=3000, int turnTime=3000, bool setMaximums=false)
	Constructor.
double	findDegreesToTurn (int bumpValue, int whichBumper)
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	~ArActionBumpers ()
	Destructor.
Protected Attributes
double	myBackOffSpeed
int	myBackOffTime
int	myBumpMask
ArActionDesired	myDesired
bool	myFiring
double	myHeading
bool	mySetMaximums
double	mySpeed
ArTime	myStartBack
int	myStopTime
int	myTurnTime
ArTime	stoppedSince

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Detailed Description

Action to deal with if the bumpers trigger.

This class basically responds to the bumpers the robot has, what the activity things the robot has is decided by the param file. If the robot is going forwards and bumps into something with the front bumpers, it will back up and turn. If the robot is going backwards and bumps into something with the rear bumpers then the robot will move forward and turn.

Definition at line 44 of file ArActionBumpers.h.

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Constructor & Destructor Documentation

ArActionBumpers::ArActionBumpers (  const char *  name = "bumpers", double  backOffSpeed = 100, int  backOffTime = 3000, int  turnTime = 3000, bool  setMaximums = false )

Constructor. Parameters: name  name of the action backOffSpeed  speed at which to back away (mm/sec) backOffTime  number of msec to back up for (msec) turnTime  number of msec to alow for turn (msec) Definition at line 38 of file ArActionBumpers.cpp. References ArAction::setNextArgument().

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Member Function Documentation

ArActionDesired * ArActionBumpers::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 111 of file ArActionBumpers.cpp. References ArMath::addAngle(), ArMath::fabs(), ArRobot::getStallValue(), ArRobot::getTh(), ArRobot::getVel(), ArRobot::hasFrontBumpers(), ArRobot::hasRearBumpers(), ArTime::mSecSince(), ArActionDesired::reset(), ArActionDesired::setDeltaHeading(), ArActionDesired::setHeading(), ArActionDesired::setMaxNegVel(), ArActionDesired::setMaxVel(), ArTime::setToNow(), ArActionDesired::setVel(), and ArMath::subAngle().

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

• ArActionBumpers.h
• ArActionBumpers.cpp

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