#include <ArActionIRs.h>
Inheritance diagram for ArActionIRs:
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.
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