Action to recover from a stall. More...

#include <ArActionStallRecover.h>

Public Member Functions
virtual void	activate (void)

void	addToConfig (ArConfig config, const char sectionName, ArPriority::Priority priority=ArPriority::NORMAL)

	ArActionStallRecover (const char *name="stall recover", double obstacleDistance=225, int cyclesToMove=50, double speed=150, double degreesToTurn=45, bool enabled=true)
	Constructor. More...

virtual ArActionDesired *	fire (ArActionDesired currentDesired)

virtual ArActionDesired *	getDesired (void)

virtual const ArActionDesired *	getDesired (void) const

virtual	~ArActionStallRecover ()
	Destructor.

Public Member Functions inherited from ArAction
	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 Types
enum	State { STATE_NOTHING = 0, STATE_GOING }

enum	What { BACK =0x1, FORWARD =0x2, TURN =0x4, TURN_LEFT =0x8, TURN_RIGHT =0x10, MOVEMASK = BACK \| FORWARD, TURNMASK = TURN \| TURN_LEFT \| TURN_RIGHT }

Protected Member Functions
void	addSequence (int sequence)

void	doit (void)

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!)

Protected Attributes
ArActionDesired	myActionDesired

int	myCount

int	myCyclesToMove

int	myCyclesToTurn

double	myDegreesToTurn

double	myDesiredHeading

int	myDoing

bool	myEnabled

time_t	myLastFired

double	myObstacleDistance

ArResolver *	myResolver

std::map< int, int >	mySequence

int	mySequenceNum

int	mySequencePos

int	mySideStalled

double	mySpeed

int	myState

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.

Static Protected Attributes inherited from ArAction
static bool	ourDefaultActivationState = true

Detailed Description

Action to recover from a stall.

This action tries to recover if one of the wheels has stalled, it has a series of actions it tries in order to get out of the stall.

Constructor & Destructor Documentation

ArActionStallRecover::ArActionStallRecover	(	const char *	name = `"stall recover"`,
		double	obstacleDistance = `225`,
		int	cyclesToMove = `50`,
		double	speed = `150`,
		double	degreesToTurn = `45`,
		bool	enabled = `true`
	)

Constructor.

Parameters

name	name of the action
obstacleDistance	distance at which not to move because of obstacle. (mm)
cyclesToMove	default number of cycles to move (# of cycles) (may be changed via ArConfig)
speed	default speed at which to back up or go forward (mm/sec) (may be changed via ArConfig)
degreesToTurn	default number of degrees to turn (deg) (may be changed vi ArConfig)
enabled	default value of "enabled" state configuration parameter (may be changed via ArConfig)

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