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ArActionGoto Class Reference

This action goes to a given ArPose very naively. More...

#include <ArActionGoto.h>

Inheritance diagram for ArActionGoto::

ArAction List of all members.

Public Methods

bool haveAchievedGoal (void)
 Sees if the goal has been achieved.

void cancelGoal (void)
 Cancels the goal the robot has.

void setGoal (ArPose goal)
 Sets a new goal and sets the action to go there.

ArPose getGoal (void)
 Gets the goal the action has.

void setCloseDist (double closeDist)
 Set the distance which is close enough to the goal (mm);.

double getCloseDist (void)
 Gets the distance which is close enough to the goal (mm).

void setSpeed (double speed)
 Sets the speed the action will travel to the goal at (mm/sec).

double getSpeed (void)
 Gets the speed the action will travel to the goal at (mm/sec).

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

This action goes to a given ArPose very naively.

This action naively drives straight towards a given ArPose... the action stops when it gets closeDist away... it travels to the point at speed mm/sec.

You can give it a new goal with setGoal, cancel its movement with cancelGoal, and see if it got there with haveAchievedGoal.

This doesn't avoid obstacles or anything, you could have an avoid routine at a higher priority to avoid on the way there... but for real and intelligent looking navigation you should use something like Saphira's Gradient navigation.


Member Function Documentation

ArActionDesired * ArActionGoto::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:
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