#include <ArActionAvoidFront.h>
Inheritance diagram for ArActionAvoidFront:
This action uses whatever available range device have been added to the robot to avoid obstacles. See the ArActionAvoidFront constructor documentation to see the parameters it takes.
Also note that this action does something most others don't, which is to check for a specific piece of hardware. This is the tableSensingIR. If this is set up in the parameters for the robot, it will use DigIn0 and DigIn1, where the tableSensingIRs are connected. Note that if you make useTableIRIfAvail false in the constructor it'll ignore these. Whether the action thinks the robot has them or not depends on the value of tableSensingIR in the parameter file for that robot.
Public Member Functions | |
ArActionAvoidFront (const char *name="avoid front obstacles", double obstacleDistance=450, double avoidVelocity=200, double turnAmount=15, bool useTableIRIfAvail=true) | |
Constructor. | |
virtual ArActionDesired * | fire (ArActionDesired currentDesired) |
virtual const ArActionDesired * | getDesired (void) const |
virtual ArActionDesired * | getDesired (void) |
virtual | ~ArActionAvoidFront () |
Destructor. | |
Protected Attributes | |
double | myAvoidVel |
ArFunctorC< ArActionAvoidFront > | myConnectCB |
ArActionDesired | myDesired |
double | myObsDist |
ArSectors | myQuadrants |
double | myTurnAmount |
double | myTurnAmountParam |
int | myTurning |
bool | myUseTableIRIfAvail |
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Constructor.
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