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ArActionAvoidFront Class Reference

#include <ArActionAvoidFront.h>

Inheritance diagram for ArActionAvoidFront:

ArAction List of all members.

Detailed Description

This action does obstacle avoidance, controlling both trans and rot.

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.

Examples:

actionGroupExample.cpp.


Public Member Functions

 ArActionAvoidFront (const char *name="avoid front obstacles", double obstacleDistance=450, double avoidVelocity=200, double turnAmount=15, bool useTableIRIfAvail=true)
 Constructor.
virtual ArActionDesiredfire (ArActionDesired currentDesired)
virtual const ArActionDesiredgetDesired (void) const
virtual ArActionDesiredgetDesired (void)
virtual ~ArActionAvoidFront ()
 Destructor.

Protected Attributes

double myAvoidVel
ArFunctorC< ArActionAvoidFrontmyConnectCB
ArActionDesired myDesired
double myObsDist
ArSectors myQuadrants
double myTurnAmount
double myTurnAmountParam
int myTurning
bool myUseTableIRIfAvail


Constructor & Destructor Documentation

ArActionAvoidFront::ArActionAvoidFront const char *  name = "avoid front obstacles",
double  obstacleDistance = 450,
double  avoidVelocity = 200,
double  turnAmount = 15,
bool  useTableIRIfAvail = true
 

Constructor.

Parameters:
name the name of the action
obstacleDistance distance at which to turn. (mm)
avoidVelocity Speed at which to go while avoiding an obstacle. (mm/sec)
turnAmount Degrees to turn relative to current heading while avoiding obstacle (deg)
useTableIRIfAvail Whether to use the table sensing IR if they are available


The documentation for this class was generated from the following files:
Generated on Thu Jan 7 10:34:40 2010 for Aria by  doxygen 1.4.2