ArActionIRs Class Reference

#include <ArActionIRs.h>

Inheritance diagram for ArActionIRs:

List of all members.

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Detailed Description

Action to back up if short-range IR sensors trigger.

If the robot has front-mounted binary (triggered/not triggered) IR sensors, this action will respond to a sensor trigger by backing up and perhaps turning, similar to bumpers. This action assumes that if an IR triggers, the robot caused it by moving forward into or under an obstacle, and backing up is a good reaction.

Public Member Functions
	ArActionIRs (const char *name="IRs", double backOffSpeed=100, int backOffTime=5000, int turnTime=3000, bool setMaximums=false)
	Constructor.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
virtual const ArActionDesired *	getDesired (void) const
virtual ArActionDesired *	getDesired (void)
virtual void	setRobot (ArRobot *robot)
virtual	~ArActionIRs ()
	Destructor.
Protected Attributes
std::vector< int >	cycleCounters
double	myBackOffSpeed
int	myBackOffTime
ArActionDesired	myDesired
bool	myFiring
double	myHeading
ArRobotParams	myParams
bool	mySetMaximums
double	mySpeed
ArTime	myStartBack
int	myStopTime
int	myTurnTime
ArTime	stoppedSince

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Constructor & Destructor Documentation

ArActionIRs::ArActionIRs (  const char *  name = "IRs", double  backOffSpeed = 100, int  backOffTime = 5000, int  turnTime = 3000, bool  setMaximums = false )

Constructor. Parameters: name  name of the action backOffSpeed  speed at which to back away (mm/sec) backOffTime  number of msec to back up for (msec) turnTime  number of msec to alow for turn (msec) setMaximums  if true, set desired maximum speed limits to backOffSpeed when performing the action; otherwise use existing speed limits.

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

• ArActionIRs.h
• ArActionIRs.cpp

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