ArActionIRs Class Reference

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

#include <ArActionIRs.h>

Inheritance diagram for ArActionIRs:

List of all members.

Public Member Functions
	ArActionIRs (const char *name="IRs", double backOffSpeed=100, int backOffTime=5000, int turnTime=3000, bool setMaximums=false)
	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 void	setRobot (ArRobot *robot)
	Sets the robot this action is driving.
virtual	~ArActionIRs ()
	Destructor.
Protected Attributes
std::vector< int >	cycleCounters
double	myBackOffSpeed
int	myBackOffTime
ArActionDesired	myDesired
bool	myFiring
double	myHeading
ArRobotParams	myParams
bool	mySetMaximums
double	mySpeed
ArTime	myStartBack
int	myStopTime
int	myTurnTime
ArTime	stoppedSince

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Detailed Description

Action to deal with if the IRs trigger.

This class basically responds to the IRs that the robot has (if it has IRs at all). It assumes that the IRs will only be triggered if the robot is going forwards.

Definition at line 40 of file ArActionIRs.h.

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Constructor & Destructor Documentation

ArActionIRs::ArActionIRs (  const char *  name = "IRs", double  backOffSpeed = 100, int  backOffTime = 5000, 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 39 of file ArActionIRs.cpp. References ArAction::setNextArgument().

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Member Function Documentation

ArActionDesired * ArActionIRs::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 84 of file ArActionIRs.cpp. References ArMath::addAngle(), ArRobot::comInt(), ArMath::fabs(), ArPose::findAngleTo(), ArRobot::getDigIn(), ArRobot::getIODigIn(), ArRobot::getIODigInSize(), ArRobotParams::getIRCycles(), ArRobotParams::getIRType(), ArRobotParams::getIRX(), ArRobotParams::getIRY(), ArRobotParams::getNumIR(), ArRobot::getTh(), ArRobot::getVel(), ArPose::getX(), ArRobotParams::haveNewTableSensingIR(), ArRobotParams::haveTableSensingIR(), ArTime::mSecSince(), ArActionDesired::reset(), ArActionDesired::setDeltaHeading(), ArActionDesired::setHeading(), ArTime::setToNow(), ArActionDesired::setVel(), ArPose::setX(), and ArPose::setY().

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

• ArActionIRs.h
• ArActionIRs.cpp

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