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ArActionAvoidFront Class Reference

This action does obstacle avoidance, controlling both trans and rot. More...

#include <ArActionAvoidFront.h>

Inheritance diagram for ArActionAvoidFront::

ArAction List of all members.

Public Methods

 ArActionAvoidFront (const char *name="avoid front obstacles", double obstacleDistance=450, double avoidVelocity=200, double turnAmount=15, bool useTableIRIfAvail=true)
 Constructor. More...

virtual ~ArActionAvoidFront (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

This action does obstacle avoidance, controlling both trans and rot.

This action uses whatever available range device have been added to the robot to avoid obstacles. See the ArActionAvoidFront constructor documentation to see the parameters it takes.

Also note that this action does something most others don't, which is to check for a specific piece of hardware. This is the tableSensingIR. If this is set up in the parameters for the robot, it will use DigIn0 and DigIn1, where the tableSensingIRs are connected. Note that if you make useTableIRIfAvail false in the constructor it'll ignore these. Whether the action thinks the robot has them or not depends on the value of tableSensingIR in the parameter file for that robot.


Constructor & Destructor Documentation

ArActionAvoidFront::ArActionAvoidFront const char *    name = "avoid front obstacles",
double    obstacleDistance = 450,
double    avoidVelocity = 200,
double    turnAmount = 15,
bool    useTableIRIfAvail = true
 

Constructor.

Parameters:
name  the name of the action
obstacleDistance  distance at which to turn. (mm)
avoidVelocity  Speed at which to go while avoiding an obstacle. (mm/sec)
turnAmount  Degrees to turn relative to current heading while avoiding obstacle (deg)
useTableIRIfAvail  Whether to use the table sensing IR if they are available


Member Function Documentation

ArActionDesired * ArActionAvoidFront::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