ArActionDriveDistance Class Reference

#include <ArActionDriveDistance.h>

Inheritance diagram for ArActionDriveDistance:

List of all members.

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Detailed Description

This action goes to a given ArPose very naively.

This action naively drives a fixed distance. The action stops the robot when it has travelled the appropriate distance. It travels at 'speed' mm/sec.

You can give it a distance with setDistance(), cancel its movement with cancelDistance(), and see if it got there with haveAchievedDistance().

You can tell it to go backwards by calling setDistance with a negative value.

This doesn't avoid obstacles or anything, you could add have an limiting ArAction at a higher priority to try to do this (so you don't smash things). (For truly intelligent navigation, see ActivMedia's ARNL or SONARNL software.)

Definition at line 54 of file ArActionDriveDistance.h.

Public Member Functions
	ArActionDriveDistance (const char *name="driveDistance", double speed=400, double deceleration=200)
void	cancelDistance (void)
	Cancels the goal the robot has.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
double	getDeceleration (void)
	Gets the deceleration the action will use (mm/sec/sec).
virtual const ArActionDesired *	getDesired (void) const
virtual ArActionDesired *	getDesired (void)
double	getSpeed (void)
	Gets the speed the action will travel at (mm/sec).
bool	haveAchievedDistance (void)
	Sees if the goal has been achieved.
void	setDeceleration (double deceleration=200)
	Sets the deceleration the action will use (mm/sec/sec).
void	setDistance (double distance, bool useEncoders=true)
	Sets a new goal and sets the action to go there.
void	setPrinting (bool printing)
	Sets if we're printing or not.
void	setSpeed (double speed=400)
	Sets the speed the action will travel at (mm/sec).
bool	usingEncoders (void)
	Gets whether we're using the encoder position or the normal position.
Protected Types
enum	State { STATE_NO_DISTANCE, STATE_ACHIEVED_DISTANCE, STATE_GOING_DISTANCE }
Protected Attributes
double	myDeceleration
ArActionDesired	myDesired
double	myDistance
double	myDistTravelled
ArPose	myLastPose
double	myLastVel
bool	myPrinting
double	mySpeed
State	myState
bool	myUseEncoders

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

• ArActionDriveDistance.h
• ArActionDriveDistance.cpp

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