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ArActionIRs Class Reference

#include <ArActionIRs.h>

Inheritance diagram for ArActionIRs:

ArAction List of all members.

Detailed Description

Action to back up if short-range IR sensors trigger.

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.

Definition at line 43 of file ArActionIRs.h.

Public Member Functions

 ArActionIRs (const char *name="IRs", double backOffSpeed=100, int backOffTime=5000, int turnTime=3000, bool setMaximums=false)
 Constructor.
virtual ArActionDesiredfire (ArActionDesired currentDesired)
virtual const ArActionDesiredgetDesired (void) const
virtual ArActionDesiredgetDesired (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


Constructor & Destructor Documentation

ArActionIRs::ArActionIRs const char *  name = "IRs",
double  backOffSpeed = 100,
int  backOffTime = 5000,
int  turnTime = 3000,
bool  setMaximums = false
 

Constructor.

Parameters:
name name of the action
backOffSpeed speed at which to back away (mm/sec)
backOffTime number of msec to back up for (msec)
turnTime number of msec to alow for turn (msec)
setMaximums if true, set desired maximum speed limits to backOffSpeed when performing the action; otherwise use existing speed limits.

Definition at line 39 of file ArActionIRs.cpp.


The documentation for this class was generated from the following files:
Generated on Tue Feb 20 10:51:42 2007 for Aria by  doxygen 1.4.0