ArActionLimiterForwards Class Reference

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

#include <ArActionLimiterForwards.h>

Inheritance diagram for ArActionLimiterForwards:

List of all members.

Public Member Functions
	ArActionLimiterForwards (const char *name="speed limiter", double stopDistance=250, double slowDistance=1000, double slowSpeed=200, double widthRatio=1)
	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).
void	setParameters (double stopDistance=250, double slowDistance=1000, double slowSpeed=200, double widthRatio=1)
virtual	~ArActionLimiterForwards ()
	Destructor.
Protected Attributes
ArActionDesired	myDesired
bool	myLastStopped
double	mySlowDist
double	mySlowSpeed
double	myStopDist
double	myWidthRatio

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Detailed Description

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

This action uses the sensors to find a maximum forwared speed to travel at; when the range sensor (e.g. sonar or laser) detects obstacles closer than the given parameters, this action requests that the robot decelerate or stop.

Definition at line 39 of file ArActionLimiterForwards.h.

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Constructor & Destructor Documentation

ArActionLimiterForwards::ArActionLimiterForwards (  const char *  name = "speed limiter", double  stopDistance = 250, double  slowDistance = 1000, double  slowSpeed = 200, double  widthRatio = 1 )

Constructor. Parameters: name  name of the action stopDistance  distance at which to stop (mm) slowDistance  distance at which to slow down (mm) slowSpeed  speed allowed at slowDistance, scales to 0 at slow distance (mm/sec) widthRatio  Ratio of the width of the box to look at to the robot radius (multiplier) Definition at line 40 of file ArActionLimiterForwards.cpp. References ArAction::setNextArgument().

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Member Function Documentation

ArActionDesired * ArActionLimiterForwards::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 90 of file ArActionLimiterForwards.cpp. References ArRobot::checkRangeDevicesCurrentBox(), ArRobot::getRobotLength(), ArRobot::getRobotWidth(), ArActionDesired::reset(), and ArActionDesired::setMaxVel().

void ArActionLimiterForwards::setParameters (  double  stopDistance = 250, double  slowDistance = 1000, double  slowSpeed = 200, double  widthRatio = 1 )

Parameters: stopDistance  distance at which to stop (mm) slowDistance  distance at which to slow down (mm) slowSpeed  speed allowed at slowDistance, scales to 0 at slow distance (mm/sec) widthRatio  Ratio of the width of the box to look at to the robot radius (multiplier) Definition at line 78 of file ArActionLimiterForwards.cpp.

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

• ArActionLimiterForwards.h
• ArActionLimiterForwards.cpp

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