ArActionMovementParameters Class Reference

#include <ArActionMovementParameters.h>

Inheritance diagram for ArActionMovementParameters:

List of all members.

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Detailed Description

This is a class for setting max velocities and accels and decels via ArConfig parameters (see addToConfig()) or manually (using setParameters()).

Public Member Functions
void	addToConfig (ArConfig *config, const char *section, const char *prefix=NULL)
	Adds to the ArConfig given, in section, with prefix.
	ArActionMovementParameters (const char *name="MovementParameters", bool overrideFaster=true, bool addLatVelIfAvailable=true)
	Constructor.
void	disable (void)
	Disables this action (separate from deactivating it).
void	enable (void)
	Enables this action (separate from activating it).
void	enableOnceFromSector (ArMapObject *mapObject)
	Enables this action in a way that'll work from the sector callbacks.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
virtual const ArActionDesired *	getDesired (void) const
virtual ArActionDesired *	getDesired (void)
void	setParameters (double maxVel=0, double maxNegVel=0, double transAccel=0, double transDecel=0, double rotVelMax=0, double rotAccel=0, double rotDecel=0, double latVelMax=0, double latAccel=0, double latDecel=0)
	Sets the parameters (don't use this if you're using the addToConfig).
virtual	~ArActionMovementParameters ()
	Destructor.
Protected Attributes
bool	myAddLatVelIfAvailable
ArActionDesired	myDesired
bool	myEnabled
bool	myEnableOnce
double	myLatAccel
double	myLatDecel
double	myMaxLatVel
double	myMaxNegVel
double	myMaxRotVel
double	myMaxVel
bool	myOverrideFaster
double	myRotAccel
double	myRotDecel
double	myTransAccel
double	myTransDecel

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Constructor & Destructor Documentation

ArActionMovementParameters::ArActionMovementParameters (  const char *  name = "MovementParameters", bool  overrideFaster = true, bool  addLatVelIfAvailable = true )

Constructor. Parameters: name  the name of this instance of the action overrideFaster  if this is set to true and a fast max vel is set and our max vel is lower we'll set the vel with all our strength (since hopefully that faster setting was set with minimum strength) addLatVelIfAvailable  If true, include the LatVel parameters in the ArConfig if the robot supports lateral motion.

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

• ArActionMovementParameters.h
• ArActionMovementParameters.cpp

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