Action to avoid impacts by firening into walls at a shallow angle. More...

#include <ArActionAvoidSide.h>

Public Member Functions
	ArActionAvoidSide (const char *name="Avoid side", double obstacleDistance=300, double turnAmount=5)
	Constructor. More...

virtual ArActionDesired *	fire (ArActionDesired currentDesired)

virtual ArActionDesired *	getDesired (void)

virtual const ArActionDesired *	getDesired (void) const

virtual	~ArActionAvoidSide ()
	Destructor.

Public Member Functions inherited from ArAction
virtual void	activate (void)
	Activate the action.

	ArAction (const char name, const char description="")
	Constructor.

virtual void	deactivate (void)
	Deactivate the action.

virtual const ArArg *	getArg (int number) const
	Gets the numbered argument. More...

virtual ArArg *	getArg (int number)
	Gets the numbered argument.

virtual const char *	getDescription (void) const
	Gets the long description of the action.

virtual const char *	getName (void) const
	Gets the name of the action.

virtual int	getNumArgs (void) const
	Find the number of arguments this action takes.

ArRobot *	getRobot () const
	Get the robot we are controlling, which was set by setRobot()

virtual bool	isActive (void) const
	Returns whether the action is active or not.

virtual void	log (bool verbose=true) const
	Log information about this action using ArLog.

virtual void	setRobot (ArRobot *robot)
	Sets the robot this action is driving. More...

virtual	~ArAction ()
	Desructor.

Protected Attributes
ArActionDesired	myDesired

double	myObsDist

double	myTurnAmount

bool	myTurning

Protected Attributes inherited from ArAction
std::map< int, ArArg >	myArgumentMap

std::string	myDescription

bool	myIsActive

std::string	myName

int	myNumArgs

ArRobot *	myRobot
	The robot we are controlling, set by the action resolver using setRobot()

Additional Inherited Members
Static Public Member Functions inherited from ArAction
static bool	getDefaultActivationState (void)
	Gets the default activation state for all ArActions.

static void	setDefaultActivationState (bool defaultActivationState)
	Sets the default activation state for all ArActions.

Protected Member Functions inherited from ArAction
void	setNextArgument (ArArg const &arg)
	Sets the argument type for the next argument (must only be used in a constructor!)

Static Protected Attributes inherited from ArAction
static bool	ourDefaultActivationState = true

Detailed Description

Action to avoid impacts by firening into walls at a shallow angle.

This action watches the sensors to see if it is close to firening into a wall at a shallow enough angle that other avoidance may not avoid.

Constructor & Destructor Documentation

ArActionAvoidSide::ArActionAvoidSide	(	const char *	name = `"Avoid side"`,
		double	obstacleDistance = `300`,
		double	turnAmount = `5`
	)

Constructor.

Parameters

name	name of the action
obstacleDistance	distance at which to start avoiding (mm)
turnAmount	degrees at which to turn (deg)

The documentation for this class was generated from the following files: