#include <ArActionGoto.h>
Inheritance diagram for ArActionGoto::
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 ArActionDesired * | fire (ArActionDesired currentDesired) |
Fires the action, returning what the action wants to do. More... | |
virtual ArActionDesired * | getDesired (void) |
Gets what this action wants to do (for display purposes). |
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.
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Fires the action, returning what the action wants to do.
Reimplemented from ArAction. |