ArActionLimiterForwards Class Reference

#include <ArActionLimiterForwards.h>

Inheritance diagram for ArActionLimiterForwards:

List of all members.

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Detailed Description

Action to limit the forwards motion of the robot based on range sensor readings.

This action uses the sensors to find a maximum forwared speed to travel at; when the range sensor (e.g. sonar or laser) detects obstacles closer than the given parameters, this action requests that the robot decelerate or stop.

Examples:

actionGroupExample.cpp, actsColorFollowingExample.cpp, gotoActionExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, teleopActionsExample.cpp, and triangleDriveToActionExample.cpp.

Public Member Functions
	ArActionLimiterForwards (const char *name="speed limiter", double stopDistance=250, double slowDistance=1000, double slowSpeed=200, double widthRatio=1)
	Constructor.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
virtual const ArActionDesired *	getDesired (void) const
virtual ArActionDesired *	getDesired (void)
void	setParameters (double stopDistance=250, double slowDistance=1000, double slowSpeed=200, double widthRatio=1)
virtual	~ArActionLimiterForwards ()
	Destructor.
Protected Attributes
ArActionDesired	myDesired
bool	myLastStopped
double	mySlowDist
double	mySlowSpeed
double	myStopDist
double	myWidthRatio

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Constructor & Destructor Documentation

ArActionLimiterForwards::ArActionLimiterForwards (  const char *  name = "speed limiter", double  stopDistance = 250, double  slowDistance = 1000, double  slowSpeed = 200, double  widthRatio = 1 )

Constructor. Parameters: name  name of the action stopDistance  distance at which to stop (mm) slowDistance  distance at which to slow down (mm) slowSpeed  speed allowed at slowDistance, scales to 0 at slow distance (mm/sec) widthRatio  Ratio of the width of the box to look at to the robot radius (multiplier)

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Member Function Documentation

void ArActionLimiterForwards::setParameters (  double  stopDistance = 250, double  slowDistance = 1000, double  slowSpeed = 200, double  widthRatio = 1 )

Parameters: stopDistance  distance at which to stop (mm) slowDistance  distance at which to slow down (mm) slowSpeed  speed allowed at slowDistance, scales to 0 at slow distance (mm/sec) widthRatio  Ratio of the width of the box to look at to the robot radius (multiplier)

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

• ArActionLimiterForwards.h
• ArActionLimiterForwards.cpp

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