ArActionPlanAndMoveToGoal Class Reference

#include <ArPathPlanningTask.h>

Inheritance diagram for ArActionPlanAndMoveToGoal:

List of all members.

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Detailed Description

This is the action for local obstacle avoidance and path following. This class uses the ArPathPlanningTask methods to drive the robot safely.

Public Member Functions
	ArActionPlanAndMoveToGoal (double maxVel, double maxRotVel, ArPathPlanningTask *ppt)
	Constructor, sets the maximums and the parent pointer.
virtual	~ArActionPlanAndMoveToGoal (void)
	Destructor, no new objects, we don't need to do anything.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
	Fire, this is what the resolver calls to find out what this action wants.
virtual void	setRobot (ArRobot *robot)
	Sets the robot pointer, also gets the sonar device.
virtual void	deactivate (void)
	Overrides base deactivate to uninitialize ArPathPlanningTask.
void	setTotalVel (double lvel, double avel)
	Set the two vels.
void	setEndMoveParams (void)
	Set end move params such as accels and decels for fine positioning.
void	setHeadingParams (void)
	Set params such as accels and decels for heading only situations.
void	clearRangeDevices (void)
	Clear the range devices.
void	clearCumRangeDevices (unsigned int cyt)
	Clear the cumulative range devices.
void	setMaxVel (double v)
	Set max vel.
void	setMaxRotVel (double r)
	Set max rot vel.
void	setFailedTimes (int i)
	Set times failed.
void	setRangeFactor (double r)
	Set range factor.
void	setEndMoveFlag (bool f)
	Set end move flag.
void	setPlanState (ArPathPlanningTask::LocalPlanningState s)
	Set plan state.
void	setReplannedTimes (int f)
	Set the no of times to replan to a goal.
double	getMaxVel (void)
	Get max vel.
double	getRotMaxVel (void)
	Get max rot vel.
int	getFailedTimes (void)
	Get times failed.
double	getRangeFactor (void)
	Get range factor.
bool	getEndMoveFlag (void)
	Get end move flag.
ArPathPlanningTask::LocalPlanningState	getPlanState (void)
	Get last plan state.
int	getReplannedTimes (void)
	Set the no of times to replan to a goal.
void	setCurrentDynamicParams (ArActionDesired curDesired)
	Set the desired action.
virtual ArActionDesired *	getDesired (void)
	Get the desired action.
Protected Attributes
ArRangeDevice *	mySick
	This holds the laser info.
ArRangeDevice *	mySonar
	Holds sonar stuff.
ArActionDesired	myDesired
	What the action wants to do.
double	myMaxVel
	Max translational velocity.
double	myMaxRotVel
	Max rotational velocity.
double	myVel
	Current linear velocity.
double	myRotVel
	Current angular velocity.
double	myHeading
	Current heading;.
ArPathPlanningTask *	myPathPlanningTask
	Link to the class that does the actual path planning.
int	myFailedTimes
	Failed times.
double	myRangeFactor
	Range factor.
bool	myEndMoveFlag
	End move flag.
ArPose	myEndMoveEncoderGoal
	End move position.
ArPathPlanningTask::LocalPlanningState	myPlanState
	Planning state.
int	myReplannedTimes
	No of times the same goal was replanned.

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