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ArActionLimiterBackwards Class Reference

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

#include <ArActionLimiterBackwards.h>

Inheritance diagram for ArActionLimiterBackwards::

ArAction List of all members.

Public Methods

 ArActionLimiterBackwards (const char *name="speed limiter", double stopDistance=-250, double slowDistance=-600, double maxBackwardsSpeed=-250)
 Constructor. More...

virtual ~ArActionLimiterBackwards (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 backwards motion of the robot.

This class limits the backwards motion of the robot according to the parameters given.


Constructor & Destructor Documentation

ArActionLimiterBackwards::ArActionLimiterBackwards const char *    name = "speed limiter",
double    stopDistance = -250,
double    slowDistance = -600,
double    maxBackwardsSpeed = -250
 

Constructor.

Parameters:
name  name of the action
stopDistance  distance at which to stop (mm)
slowDistance  distance at which to slow down (mm)
maxBackwardsSpeed  maximum backwards speed, speed allowed scales from this to 0 at the stop distance (mm/sec)


Member Function Documentation

ArActionDesired * ArActionLimiterBackwards::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 17:43:48 2002 for Aria by doxygen1.2.13.1 written by Dimitri van Heesch, © 1997-2001