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ArActionBumpers Class Reference

Action to deal with if the bumpers trigger. More...

#include <ArActionBumpers.h>

Inheritance diagram for ArActionBumpers::

ArAction List of all members.

Public Methods

 ArActionBumpers (const char *name="bumpers", double backOffSpeed=100, int backOffTime=2500, int turnTime=500, bool setMaximums=false)
 Constructor. More...

virtual ~ArActionBumpers (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 deal with if the bumpers trigger.

This class basically responds to the bumpers the robot has, what the activity things the robot has is decided by the param file. If the robot is going forwards and bumps into something with the front bumpers, it will back up and turn. If the robot is going backwards and bumps into something with the rear bumpers then the robot will move forward and turn.


Constructor & Destructor Documentation

ArActionBumpers::ArActionBumpers const char *    name = "bumpers",
double    backOffSpeed = 100,
int    backOffTime = 2500,
int    turnTime = 500,
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)


Member Function Documentation

ArActionDesired * ArActionBumpers::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