ArActionGotoStraight Class Reference

This action goes to a given ArPose very naively. More...

#include <ArActionGotoStraight.h>

Inheritance diagram for ArActionGotoStraight:

List of all members.

Public Member Functions
	ArActionGotoStraight (const char *name="goto", double speed=400)
void	cancelGoal (void)
	Cancels the goal the robot has.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
	Fires the action, returning what the action wants to do.
bool	getBacking (void)
	Sets whether we're backing up there or not (set in the setGoals).
double	getCloseDist (void)
	Gets how close we have to get if we're not in just distance mode.
virtual ArActionDesired *	getDesired (void)
	Gets what this action wants to do (for display purposes).
ArPose	getEncoderGoal (void)
	Gets the goal the action has.
ArPose	getGoal (void)
	Gets the goal the action has.
double	getSpeed (void)
	Gets the speed the action will travel to the goal at (mm/sec).
bool	haveAchievedGoal (void)
	Sees if the goal has been achieved.
void	setCloseDist (double closeDist=100)
	Sets how close we have to get if we're not in just distance mode.
void	setEncoderGoal (ArPose encoderGoal, bool backwards=false, bool justDistance=true)
	Sets a new goal and sets the action to go there.
void	setEncoderGoalRel (double dist, double deltaHeading, bool backwards=false, bool justDistance=true)
	Sets the goal in a relative way.
void	setGoal (ArPose goal, bool backwards=false, bool justDistance=true)
	Sets a new goal and sets the action to go there.
void	setGoalRel (double dist, double deltaHeading, bool backwards=false, bool justDistance=true)
	Sets the goal in a relative way.
void	setSpeed (double speed)
	Sets the speed the action will travel to the goal at (mm/sec).
bool	usingEncoderGoal (void)
	Gets whether we're using the encoder goal or the normal goal.
Protected Types
enum	State { STATE_NO_GOAL, STATE_ACHIEVED_GOAL, STATE_GOING_TO_GOAL }
Protected Attributes
bool	myBacking
double	myCloseDist
ArActionDesired	myDesired
double	myDist
double	myDistTravelled
ArPose	myEncoderGoal
ArPose	myGoal
bool	myJustDist
ArPose	myLastPose
bool	myPrinting
double	mySpeed
State	myState
bool	myUseEncoderGoal

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Detailed Description

This action goes to a given ArPose very naively.

This action naively drives straight towards a given ArPose. The action stops the robot when it has travelled the distance that that pose is away. It travels at 'speed' mm/sec.

You can give it a new goal pose with setGoal(), cancel its movement with cancelGoal(), and see if it got there with haveAchievedGoal().

For arguments to the goals and encoder goals you can tell it to go backwards by calling them with the backwards parameter true. If you set the justDistance to true it will only really care about having driven the distance, if false it'll try to get to the spot you wanted within close distance.

This doesn't avoid obstacles or anything, you could add have an obstacle avoidance ArAction at a higher priority to try to do this. (For truly intelligent navigation, see ActivMedia's ARNL software.)

Definition at line 56 of file ArActionGotoStraight.h.

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Member Function Documentation

ArActionDesired * ArActionGotoStraight::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 118 of file ArActionGotoStraight.cpp. References ArTransform::doTransform(), ArPose::findAngleTo(), ArPose::findDistanceTo(), ArRobot::getEncoderPose(), ArRobot::getEncoderTransform(), ArRobot::getPose(), ArRobot::getVel(), ArLog::log(), ArActionDesired::setDeltaHeading(), ArActionDesired::setHeading(), ArActionDesired::setVel(), and ArMath::subAngle().

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

• ArActionGotoStraight.h
• ArActionGotoStraight.cpp

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