ArActionDeceleratingLimiter Class Reference

#include <ArActionDeceleratingLimiter.h>

Inheritance diagram for ArActionDeceleratingLimiter:

List of all members.

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Detailed Description

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

This action uses the robot's range sensors (e.g. sonar, laser) to find a maximum speed at which to travel and will increase the deceleration so that the robot doesn't hit anything. If it has to, it will trigger an estop to avoid a collision.

Note that this cranks up the deceleration with a strong strength, but it checks to see if there is already something decelerating more strongly... so you can put these actions lower in the priority list so things will play together nicely.

Public Types
enum	LimiterType { FORWARDS, BACKWARDS, LATERAL_LEFT, LATERAL_RIGHT }
Public Member Functions
void	addToConfig (ArConfig *config, const char *section, const char *prefix=NULL)
	Adds to the ArConfig given, in section, with prefix.
	ArActionDeceleratingLimiter (const char *name="limitAndDecel", LimiterType type=FORWARDS)
	Constructor.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
virtual const ArActionDesired *	getDesired (void) const
virtual ArActionDesired *	getDesired (void)
LimiterType	getType (void)
	Gets if this will control us when going forwards.
bool	getUseLocationDependentDevices (void)
	Sets if we're using locationDependent range devices or not.
void	setParameters (double clearance=100, double sideClearanceAtSlowSpeed=50, double paddingAtSlowSpeed=50, double slowSpeed=200, double sideClearanceAtFastSpeed=400, double paddingAtFastSpeed=300, double fastSpeed=1000, double preferredDecel=600, bool useEStop=false, double maxEmergencyDecel=0)
	Sets the parameters (don't use this if you're using the addToConfig).
void	setType (LimiterType type)
	Sets if this will control us when going forwards.
void	setUseLocationDependentDevices (bool useLocationDependentDevices)
	Sets if we're using locationDependent range devices or not.
virtual	~ArActionDeceleratingLimiter ()
	Destructor.
Protected Attributes
double	myClearance
ArActionDesired	myDesired
double	myFastSpeed
bool	myLastStopped
double	myMaxEmergencyDecel
double	myPaddingAtFastSpeed
double	myPaddingAtSlowSpeed
double	myPreferredDecel
double	mySideClearanceAtFastSpeed
double	mySideClearanceAtSlowSpeed
double	mySlowSpeed
LimiterType	myType
bool	myUseEStop
bool	myUseLocationDependentDevices

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Member Enumeration Documentation

enum ArActionDeceleratingLimiter::LimiterType

Enumeration values: FORWARDS  Limit forwards. BACKWARDS  Limit backwards. LATERAL_LEFT  Limit lateral left. LATERAL_RIGHT  Limit lateral right.

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Constructor & Destructor Documentation

ArActionDeceleratingLimiter::ArActionDeceleratingLimiter (  const char *  name = "limitAndDecel", LimiterType  type = FORWARDS )

Constructor. Parameters: name  name of the action type  whether we're an action for going forwards (ArActionDeceleratingLimiter::FORWARDS) backwards (ArActionDeceleratingLimiter::BACKWARDS), or laterally to the left (ArActionDeceleratingLimiter::LATERAL_LEFT) or laterally to the right (ArActionDeceleratingLimiter::LATERAL_RIGHT). This causes ArActionDeceleratingLimiter to choose the right values and choose X or Y translation decelerations and speeds.

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Member Function Documentation

void ArActionDeceleratingLimiter::setParameters (  double  clearance = 100, double  sideClearanceAtSlowSpeed = 50, double  paddingAtSlowSpeed = 50, double  slowSpeed = 200, double  sideClearanceAtFastSpeed = 400, double  paddingAtFastSpeed = 300, double  fastSpeed = 1000, double  preferredDecel = 600, bool  useEStop = false, double  maxEmergencyDecel = 0 )

Sets the parameters (don't use this if you're using the addToConfig). Parameters: clearance  distance at which to estop (mm) sideClearanceAtSlowSpeed  distance on the side to stop for if going at slow speed or slower (mm) paddingAtSlowSpeed  distance in addition to clerance at which to stop at slow speed (mm) slowSpeed  speed which we consider to be "slow" (mm/sec) sideClearanceAtFastSpeed  distance on the side to stop for if going at fast speed or faster (mm) paddingAtFastSpeed  distance in addition to clerance at which to stop at fast speed (mm) fastSpeed  speed which we consider to be "fast" (mm/sec) preferredDecel  the maximum deceleration to slow for obstacles (unless it will be insufficient to keep the clearances free, then decelerate faster) useEStop  if something is detected within the clearance, cause an immediate emergecy stop maxEmergencyDecel  ultimate limit on deceleration to apply when slowing for an obstacle detected within clearance (mm/sec/sec); if 0, use the robot's maximum decel parameter.

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

• ArActionDeceleratingLimiter.h
• ArActionDeceleratingLimiter.cpp

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