Aria
2.8.0
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Action to limit the backwards motion of the robot based on range sensor readings. More...
#include <ArActionLimiterBackwards.h>
Inherits ArAction.
Public Member Functions | |
ArActionLimiterBackwards (const char *name="speed limiter", double stopDistance=-250, double slowDistance=-600, double maxBackwardsSpeed=-250, double widthRatio=1.5, bool avoidLocationDependentObstacles=true) | |
Constructor. More... | |
virtual ArActionDesired * | fire (ArActionDesired currentDesired) |
virtual ArActionDesired * | getDesired (void) |
virtual const ArActionDesired * | getDesired (void) const |
virtual | ~ArActionLimiterBackwards () |
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 | |
bool | myAvoidLocationDependentObstacles |
ArActionDesired | myDesired |
double | myMaxBackwardsSpeed |
double | mySlowDist |
double | myStopDist |
double | myWidthRatio |
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 |
Action to limit the backwards motion of the robot based on range sensor readings.
This class limits the backwards motion of the robot according to range sensor readings (e.g. sonar, laser), and the parameters given. When the range sensor (e.g. sonar or laser) detects rearward obstacles closer than the given parameters, this action requests that the robot decelerate or stop any current backwards movement.
ArActionLimiterBackwards::ArActionLimiterBackwards | ( | const char * | name = "speed limiter" , |
double | stopDistance = -250 , |
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double | slowDistance = -600 , |
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double | maxBackwardsSpeed = -250 , |
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double | widthRatio = 1.5 , |
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bool | avoidLocationDependentObstacles = true |
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) |
Constructor.
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) |
widthRatio | The ratio of robot width to the width of the region this action checks for sensor readings. |
avoidLocationDependentObstacles | If true, stop as the robot nears location-dependent sensed obstacles, if false, ignore them. |