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ArActionLimiterForwards Class Reference

Action to limit the forwards motion of the robot. More...

#include <ArActionLimiterForwards.h>

Inheritance diagram for ArActionLimiterForwards::

ArAction List of all members.

Public Methods

 ArActionLimiterForwards (const char *name="speed limiter", double stopDistance=250, double slowDistance=600, double slowSpeed=250, double widthRatio=1.5)
 Constructor. More...

virtual ~ArActionLimiterForwards (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 limit the forwards motion of the robot.

This action uses the sensors to find a maximum speed to travel at


Constructor & Destructor Documentation

ArActionLimiterForwards::ArActionLimiterForwards const char *    name = "speed limiter",
double    stopDistance = 250,
double    slowDistance = 600,
double    slowSpeed = 250,
double    widthRatio = 1.5
 

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)


Member Function Documentation

ArActionDesired * ArActionLimiterForwards::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 17:43:49 2002 for Aria by doxygen1.2.13.1 written by Dimitri van Heesch, © 1997-2001