ArActionStallRecover Class Reference

Action to recover from a stall. More...

#include <ArActionStallRecover.h>

Inheritance diagram for ArActionStallRecover:

List of all members.

Public Member Functions
void	addToConfig (ArConfig *config, const char *sectionName, int priority=ArPriority::NORMAL)
	ArActionStallRecover (const char *name="stall recover", double obstacleDistance=225, int cyclesToMove=50, double speed=150, double degreesToTurn=45)
	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	~ArActionStallRecover ()
	Destructor.
Protected Types
enum	State { STATE_NOTHING = 0, STATE_GOING }
enum	What {   BACK = 0x1, FORWARD = 0x2, TURN = 0x4, TURN_LEFT = 0x8,   TURN_RIGHT = 0x10, MOVEMASK = BACK | FORWARD, TURNMASK = TURN | TURN_LEFT | TURN_RIGHT }
Protected Member Functions
void	addSequence (int sequence)
void	doit (void)
Protected Attributes
ArActionDesired	myActionDesired
int	myCount
int	myCyclesToMove
int	myCyclesToTurn
double	myDegreesToTurn
double	myDesiredHeading
int	myDoing
time_t	myLastFired
double	myObstacleDistance
ArResolver *	myResolver
std::map< int, int >	mySequence
int	mySequenceNum
int	mySequencePos
int	mySideStalled
double	mySpeed
int	myState

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Detailed Description

Action to recover from a stall.

This action tries to recover if one of the wheels has stalled, it has a series of actions it tries in order to get out of the stall.

Definition at line 40 of file ArActionStallRecover.h.

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Constructor & Destructor Documentation

AREXPORT ArActionStallRecover::ArActionStallRecover (  const char *  name = "stall recover", double  obstacleDistance = 225, int  cyclesToMove = 50, double  speed = 150, double  degreesToTurn = 45 )

Constructor. Parameters: name  name of the action obstacleDistance  distance at which not to move because of obstacle. (mm) cyclesToMove  number of cycles to move (# of cycles) speed  speed at which to back up or go forward (mm/sec) degreesToTurn  number of degrees to turn (deg) Definition at line 43 of file ArActionStallRecover.cpp. References ArAction::setNextArgument().

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Member Function Documentation

AREXPORT ArActionDesired * ArActionStallRecover::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 94 of file ArActionStallRecover.cpp. References ArActionDesired::getDeltaHeadingStrength(), ArActionDesired::getVelStrength(), ArRobot::isLeftMotorStalled(), ArRobot::isRightMotorStalled(), ArActionDesired::reset(), ArActionDesired::setDeltaHeading(), and ArActionDesired::setVel().

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

• ArActionStallRecover.h
• ArActionStallRecover.cpp

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