ArActionLimiterBackwards Class Reference

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

#include <ArActionLimiterBackwards.h>

Inheritance diagram for ArActionLimiterBackwards:

List of all members.

Public Member Functions
	ArActionLimiterBackwards (const char *name="speed limiter", double stopDistance=-250, double slowDistance=-600, double maxBackwardsSpeed=-250, double widthRatio=1.5)
	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	~ArActionLimiterBackwards ()
	Destructor.
Protected Attributes
ArActionDesired	myDesired
double	myMaxBackwardsSpeed
double	mySlowDist
double	myStopDist
double	myWidthRatio

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Detailed Description

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

This class limits the backwards motion of the robot according to range sensor readings (e.g. sonar, laser), and the parameters given. When the range sensor (e.g. sonar or laser) detects rearward obstacles closer than the given parameters, this action requests that the robot decelerate or stop any current backwards movement.

Definition at line 40 of file ArActionLimiterBackwards.h.

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Constructor & Destructor Documentation

ArActionLimiterBackwards::ArActionLimiterBackwards (  const char *  name = "speed limiter", double  stopDistance = -250, double  slowDistance = -600, double  maxBackwardsSpeed = -250, double  widthRatio = 1.5 )

Constructor. Parameters: name  name of the action stopDistance  distance at which to stop (mm) slowDistance  distance at which to slow down (mm) maxBackwardsSpeed  maximum backwards speed, speed allowed scales from this to 0 at the stop distance (mm/sec) Definition at line 39 of file ArActionLimiterBackwards.cpp. References ArAction::setNextArgument().

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Member Function Documentation

ArActionDesired * ArActionLimiterBackwards::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 69 of file ArActionLimiterBackwards.cpp. References ArRobot::checkRangeDevicesCurrentBox(), ArMath::fabs(), ArRobot::getRobotLength(), ArRobot::getRobotRadius(), ArRobot::getRobotWidth(), ArActionDesired::reset(), and ArActionDesired::setMaxNegVel().

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

• ArActionLimiterBackwards.h
• ArActionLimiterBackwards.cpp

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