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ArActionAvoidSide Class Reference

Action to avoid impacts by firening into walls at a shallow angle. More...

#include <ArActionAvoidSide.h>

Inheritance diagram for ArActionAvoidSide::

ArAction List of all members.

Public Methods

 ArActionAvoidSide (const char *name="Avoid side", double obstacleDistance=300, double turnAmount=5)
 Constructor. More...

virtual ~ArActionAvoidSide (void)
 Destructor.

virtual ArActionDesiredfire (ArActionDesired currentDesired)
 Fires the action, returning what the action wants to do. More...

virtual ArActionDesiredgetDesired (void)
 Gets what this action wants to do (for display purposes).


Detailed Description

Action to avoid impacts by firening into walls at a shallow angle.

This action watches the sensors to see if it is close to firening into a wall at a shallow enough angle that other avoidance may not avoid.


Constructor & Destructor Documentation

ArActionAvoidSide::ArActionAvoidSide const char *    name = "Avoid side",
double    obstacleDistance = 300,
double    turnAmount = 5
 

Constructor.

Parameters:
name  name of the action
obstacleDistance  distance at which to start avoiding (mm)
turnAmount  degrees at which to turn (deg)


Member Function Documentation

ArActionDesired * ArActionAvoidSide::fire ArActionDesired    currentDesired [virtual]
 

Fires the action, returning what the action wants to do.

Parameters:
currentDesired  this is what the current resolver has for its desired, this is SOLELY for the purpose of giving information to the action
Returns:
pointer to what this action wants to do, NULL if it wants to do nothing

Reimplemented from ArAction.


The documentation for this class was generated from the following files:
Generated on Tue Nov 12 17:43:45 2002 for Aria by doxygen1.2.13.1 written by Dimitri van Heesch, © 1997-2001