ArActionColorFollow Class Reference

#include <ArActionColorFollow.h>

Inheritance diagram for ArActionColorFollow:

List of all members.

Public Types
enum	LocationState { LEFT, RIGHT, CENTER }
enum	MoveState { FOLLOWING, ACQUIRING, STOPPED }
enum	TargetState { NO_TARGET, TARGET }
Public Member Functions
	ArActionColorFollow (const char *name, ArACTS_1_2 *acts, ArPTZ *camera, double speed=200, int width=160, int height=120)
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
	Fires the action, returning what the action wants to do.
bool	getAcquire ()
bool	getBlob ()
int	getChannel ()
bool	getMovement ()
void	setAcquire (bool acquire)
void	setCamera (ArPTZ *camera)
bool	setChannel (int channel)
void	startMovement (void)
void	stopMovement (void)
Protected Attributes
bool	killMovement
bool	myAcquire
ArACTS_1_2 *	myActs
ArPTZ *	myCamera
int	myChannel
ArActionDesired	myDesired
int	myHeight
ArTime	myLastSeen
LocationState	myLocation
int	myMaxTime
MoveState	myMove
double	mySpeed
TargetState	myState
int	myWidth

---

Detailed Description

ArActionColorFollow is an action that moves the robot toward the largest blob that appears in it's current field of view.

Definition at line 39 of file ArActionColorFollow.h.

---

Member Function Documentation

ArActionDesired * ArActionColorFollow::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 61 of file ArActionColorFollow.cpp. References ArMath::fabs(), ArACTSBlob::getArea(), ArACTS_1_2::getBlob(), ArACTS_1_2::getNumBlobs(), ArACTSBlob::getXCG(), ArACTSBlob::getYCG(), ArTime::mSecSince(), ArActionDesired::reset(), ArActionDesired::setDeltaHeading(), ArTime::setToNow(), ArActionDesired::setVel(), ArPTZ::tilt(), and ArPTZ::tiltRel().

---

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

• ArActionColorFollow.h
• ArActionColorFollow.cpp

---