ArActionDeceleratingLimiter Class Reference

Action to limit the forwards motion of the robot based on range sensor readings. More...

#include <ArActionDeceleratingLimiter.h>

Inheritance diagram for ArActionDeceleratingLimiter:

List of all members.

Public Member Functions
void	addToConfig (ArConfig *config, const char *section, const char *prefix=NULL)
	Adds to the ArConfig given, in section, with prefix.
	ArActionDeceleratingLimiter (const char *name="limitAndDecel", bool forwards=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).
bool	getForwards (void)
	Gets if this will control us when going forwards.
void	setForwards (bool forwards)
	Sets if this will control us when going forwards.
void	setParameters (double clearance=100, double sideClearanceAtSlowSpeed=50, double paddingAtSlowSpeed=50, double slowSpeed=200, double sideClearanceAtFastSpeed=400, double paddingAtFastSpeed=300, double fastSpeed=1000, double preferredDecel=600, bool useEStop=false, double maxEmergencyDecel=0)
	Sets the parameters (don't use this if you're using the addToConfig).
virtual	~ArActionDeceleratingLimiter ()
	Destructor.
Protected Attributes
double	myClearance
ArActionDesired	myDesired
double	myFastSpeed
bool	myForwards
bool	myLastStopped
double	myMaxEmergencyDecel
double	myPaddingAtFastSpeed
double	myPaddingAtSlowSpeed
double	myPreferredDecel
double	mySideClearanceAtFastSpeed
double	mySideClearanceAtSlowSpeed
double	mySlowSpeed
bool	myUseEStop

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Detailed Description

Action to limit the forwards motion of the robot based on range sensor readings.

This action uses the robot's range sensors (e.g. sonar, laser) to find a maximum speed at which to travel and will increase the deceleration so that the robot doesn't hit anything. If it has to, it will trigger an estop to avoid a collision.

Note that this cranks up the deceleration with a strong strength, but it checks to see if there is already something decelerating more strongly... so you can put these actions lower in the priority list so things will play together nicely.

Definition at line 46 of file ArActionDeceleratingLimiter.h.

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Constructor & Destructor Documentation

ArActionDeceleratingLimiter::ArActionDeceleratingLimiter (  const char *  name = "limitAndDecel", bool  forwards = true )

Constructor. Parameters: name  name of the action forwards  whether we're an action for going forwards (true) or backwards (false) Definition at line 39 of file ArActionDeceleratingLimiter.cpp. References setParameters().

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Member Function Documentation

ArActionDesired * ArActionDeceleratingLimiter::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 183 of file ArActionDeceleratingLimiter.cpp. References ArRobot::checkRangeDevicesCurrentBox(), ArRobot::comInt(), ArMath::fabs(), ArRobot::getOrigRobotConfig(), ArRobot::getRobotLength(), ArRobot::getRobotWidth(), ArRobotConfigPacketReader::getTransAccelTop(), ArActionDesired::getTransDecel(), ArRobot::getTransDecel(), ArActionDesired::getTransDecelStrength(), ArRobot::getVel(), ArRobotConfigPacketReader::hasPacketArrived(), ArLog::log(), ArActionDesired::reset(), ArActionDesired::setMaxNegVel(), ArActionDesired::setMaxVel(), ArActionDesired::setTransDecel(), and ArActionDesired::setVel().

void ArActionDeceleratingLimiter::setParameters (  double  clearance = 100, double  sideClearanceAtSlowSpeed = 50, double  paddingAtSlowSpeed = 50, double  slowSpeed = 200, double  sideClearanceAtFastSpeed = 400, double  paddingAtFastSpeed = 300, double  fastSpeed = 1000, double  preferredDecel = 600, bool  useEStop = false, double  maxEmergencyDecel = 0 )

Sets the parameters (don't use this if you're using the addToConfig). Parameters: clearance  distance at which to estop (mm) sideClearanceAtSlowSpeed  distance on the side to stop for if going at slow speed or slower (mm) paddingAtSlowSpeed  distance in addition to clerance at which to stop at slow speed (mm) slowSpeed  speed which we consider to be "slow" (mm/sec) sideClearanceAtFastSpeed  distance on the side to stop for if going at fast speed or faster (mm) paddingAtFastSpeed  distance in addition to clerance at which to stop at fast speed (mm) fastSpeed  speed which we consider to be "fast" (mm/sec) preferredDecel  the maximum deceleration to slow for obstacles (unless it will be insufficient to keep the clearances free, then decelerate faster) useEStop  if something is detected within the clearance, cause an immediate emergecy stop maxEmergencyDecel  ultimate limit on deceleration to apply when slowing for an obstacle detected within clearance (mm/sec/sec); if 0, use the robot's maximum decel parameter. Definition at line 68 of file ArActionDeceleratingLimiter.cpp. Referenced by ArActionDeceleratingLimiter().

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

• ArActionDeceleratingLimiter.h
• ArActionDeceleratingLimiter.cpp

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