ArActionLimiterForwards Class Reference

Action to limit the forwards motion of the robot based on range sensor readings. More...

#include <ArActionLimiterForwards.h>

Inherits ArAction.

Public Member Functions
	ArActionLimiterForwards (const char *name="speed limiter", double stopDistance=250, double slowDistance=1000, double slowSpeed=200, double widthRatio=1)
	Constructor. More...
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
virtual ArActionDesired *	getDesired (void)
virtual const ArActionDesired *	getDesired (void) const
void	setParameters (double stopDistance=250, double slowDistance=1000, double slowSpeed=200, double widthRatio=1)
virtual	~ArActionLimiterForwards ()
	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
bool	myLastStopped
double	mySlowDist
double	mySlowSpeed
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

Detailed Description

Action to limit the forwards motion of the robot based on range sensor readings.

This action uses the sensors to find a maximum forwared speed to travel at; when the range sensor (e.g. sonar or laser) detects obstacles closer than the given parameters, this action requests that the robot decelerate or stop.

Examples:

actionGroupExample.cpp, actsColorFollowingExample.cpp, gotoActionExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, teleopActionsExample.cpp, and triangleDriveToActionExample.cpp.

Constructor & Destructor Documentation

ArActionLimiterForwards()

ArActionLimiterForwards::ArActionLimiterForwards	(	const char *	name = "speed limiter",
		double	stopDistance = 250,
		double	slowDistance = 1000,
		double	slowSpeed = 200,
		double	widthRatio = 1
	)

Constructor.

Parameters

name	name of the action
stopDistance	distance at which to stop (mm)
slowDistance	distance at which to slow down (mm)
slowSpeed	speed allowed at slowDistance, scales to 0 at slow distance (mm/sec)
widthRatio	Ratio of the width of the box to look at to the robot radius (multiplier)

Member Function Documentation

setParameters()

void ArActionLimiterForwards::setParameters	(	double	stopDistance = 250,
		double	slowDistance = 1000,
		double	slowSpeed = 200,
		double	widthRatio = 1
	)

Parameters

stopDistance	distance at which to stop (mm)
slowDistance	distance at which to slow down (mm)
slowSpeed	speed allowed at slowDistance, scales to 0 at slow distance (mm/sec)
widthRatio	Ratio of the width of the box to look at to the robot radius (multiplier)

---

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

• ArActionLimiterForwards.h
• ArActionLimiterForwards.cpp