ArActionDriveDistance Class Reference
This action goes to a given ArPose very naively. More...
#include <ArActionDriveDistance.h>
Inherits ArAction.
Public Member Functions | |
| ArActionDriveDistance (const char *name="driveDistance", double speed=400, double deceleration=200) | |
| void | cancelDistance (void) |
| Cancels the goal the robot has. | |
| virtual ArActionDesired * | fire (ArActionDesired currentDesired) |
| double | getDeceleration (void) |
| Gets the deceleration the action will use (mm/sec/sec) | |
| virtual ArActionDesired * | getDesired (void) |
| virtual const ArActionDesired * | getDesired (void) const |
| double | getSpeed (void) |
| Gets the speed the action will travel at (mm/sec) | |
| bool | haveAchievedDistance (void) |
| Sees if the goal has been achieved. | |
| void | setDeceleration (double deceleration=200) |
| Sets the deceleration the action will use (mm/sec/sec) | |
| void | setDistance (double distance, bool useEncoders=true) |
| Sets a new goal and sets the action to go there. | |
| void | setPrinting (bool printing) |
| Sets if we're printing or not. | |
| void | setSpeed (double speed=400) |
| Sets the speed the action will travel at (mm/sec) | |
| bool | usingEncoders (void) |
| Gets whether we're using the encoder position or the normal position. | |
 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 Types | |
| enum | State { STATE_NO_DISTANCE, STATE_ACHIEVED_DISTANCE, STATE_GOING_DISTANCE } |
Protected Attributes | |
| double | myDeceleration |
| ArActionDesired | myDesired |
| double | myDistance |
| double | myDistTravelled |
| ArPose | myLastPose |
| double | myLastVel |
| bool | myPrinting |
| double | mySpeed |
| State | myState |
| bool | myUseEncoders |
| 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
This action goes to a given ArPose very naively.
This action naively drives a fixed distance. The action stops the robot when it has travelled the appropriate distance. It travels at 'speed' mm/sec.
You can give it a distance with setDistance(), cancel its movement with cancelDistance(), and see if it got there with haveAchievedDistance().
You can tell it to go backwards by calling setDistance with a negative value.
This doesn't avoid obstacles or anything, you could add have an limiting ArAction at a higher priority to try to do this (so you don't smash things). (For truly intelligent navigation, see the ARNL or SONARNL software libraries.)
The documentation for this class was generated from the following files:
- ArActionDriveDistance.h
- ArActionDriveDistance.cpp
