ArActionGoto Class Reference

#include <ArActionGoto.h>

Inheritance diagram for ArActionGoto:

List of all members.

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Detailed Description

This action goes to a given ArPose very naively.

This action naively drives straight towards a given ArPose. the action stops when it gets to be a certain distance (closeDist) from the goal pose. It travels at the given speed (mm/sec).

You can give it a new goal with setGoal(), clear the current goal with cancelGoal(), and see if it got there with haveAchievedGoal(). Once the goal is reached, this action stops requesting any action.

This doesn't avoid obstacles or anything, you could have an avoid routine at a higher priority to avoid on the way there... but for real and intelligent looking navigation you should use something like ARNL, or build on these actions.

Examples:

gotoActionExample.cpp.

Public Member Functions
	ArActionGoto (const char *name="goto", ArPose goal=ArPose(0.0, 0.0, 0.0), double closeDist=100, double speed=400, double speedToTurnAt=150, double turnAmount=7)
void	cancelGoal (void)
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
double	getCloseDist (void)
	Gets the distance which is close enough to the goal (mm).
virtual const ArActionDesired *	getDesired (void) const
virtual ArActionDesired *	getDesired (void)
ArPose	getGoal (void)
	Gets the goal the action has.
double	getSpeed (void)
	Gets the speed the action will travel to the goal at (mm/sec).
bool	haveAchievedGoal (void)
void	setCloseDist (double closeDist)
	Set the distance which is close enough to the goal (mm);.
void	setGoal (ArPose goal)
	Sets a new goal and sets the action to go there.
void	setSpeed (double speed)
	Sets the speed the action will travel to the goal at (mm/sec).
Protected Types
enum	State { STATE_NO_GOAL, STATE_ACHIEVED_GOAL, STATE_GOING_TO_GOAL }
Protected Attributes
double	myCloseDist
double	myCurTurnDir
ArActionDesired	myDesired
double	myDirectionToTurn
ArPose	myGoal
ArPose	myOldGoal
bool	myPrinting
double	mySpeed
double	mySpeedToTurnAt
State	myState
double	myTurnAmount
bool	myTurnedBack

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Member Function Documentation

void ArActionGoto::cancelGoal (  void   )

Cancels the goal; this action will stop requesting movement. However, any currently requested motion (either previously requested by this action or by another action) will continue to be used. Use an ArActionStop action (activate it, or set it at a lower priority) to stop the robot.

ArActionDesired * ArActionGoto::fire (  ArActionDesired  currentDesired  )  [virtual]

Called by the action resover; request movement towards goal if we have one. Parameters: currentDesired  Current desired action from the resolver Implements ArAction.

virtual ArActionDesired* ArActionGoto::getDesired (  void   )  [inline, virtual]

Used by the action resolvel; return current desired action. Reimplemented from ArAction.

bool ArActionGoto::haveAchievedGoal (  void   )

Sees if the goal has been achieved. The goal is achieved when the robot's repordet position is within a certain distance (given in the constructor or in setCloseDist) from the goal pose.

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

• ArActionGoto.h
• ArActionGoto.cpp

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