ArActionTurn Class Reference

Action to turn when the behaviors with more priority have limited the speed. More...

#include <ArActionTurn.h>

Inheritance diagram for ArActionTurn:

List of all members.

Public Member Functions
	ArActionTurn (const char *name="turn", double speedStartTurn=200, double speedFullTurn=100, double turnAmount=15)
	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	~ArActionTurn ()
	Destructor.
Protected Attributes
ArActionDesired	myDesired
double	mySpeedFull
double	mySpeedStart
double	myTurnAmount
double	myTurning

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Detailed Description

Action to turn when the behaviors with more priority have limited the speed.

This action is basically made so that you can just have a ton of limiters of different kinds and types to keep speed under control, then throw this into the mix to have the robot wander. Note that the turn amount ramps up to turnAmount starting at 0 at speedStartTurn and hitting the full amount at speedFullTurn.

Definition at line 41 of file ArActionTurn.h.

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Member Function Documentation

ArActionDesired * ArActionTurn::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 58 of file ArActionTurn.cpp. References ArRobot::checkRangeDevicesCurrentPolar(), ArRobot::getVel(), ArActionDesired::reset(), and ArActionDesired::setDeltaHeading().

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

• ArActionTurn.h
• ArActionTurn.cpp

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