ArAction Class Reference

Base class for actions. More...

#include <ArAction.h>

Inherited by ActionGo, ActionTurn, ArActionAvoidFront, ArActionAvoidSide, ArActionBumpers, ArActionColorFollow, ArActionConstantVelocity, ArActionDeceleratingLimiter, ArActionDriveDistance, ArActionGoto, ArActionGotoStraight, ArActionInput, ArActionIRs, ArActionJoydrive, ArActionKeydrive, ArActionLimiterBackwards, ArActionLimiterForwards, ArActionLimiterRot, ArActionLimiterTableSensor, ArActionMovementParameters, ArActionMovementParametersDebugging, ArActionRatioInput, ArActionRobotJoydrive, ArActionStallRecover, ArActionStop, ArActionTriangleDriveTo, ArActionTurn, Chase, and JoydriveAction.

Public Member Functions
virtual void	activate (void)
	Activate the action.
	ArAction (const char *name, const char *description="")
	Constructor.
virtual void	deactivate (void)
	Deactivate the action.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)=0
	Fires the action, returning what the action wants to do. More...
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 ArActionDesired *	getDesired (void)
	Gets what this action wants to do (for display purposes)
virtual const ArActionDesired *	getDesired (void) const
	Gets what this action wants to do (for display purposes)
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.

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

Protected Attributes
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()

Static Protected Attributes
static bool	ourDefaultActivationState = true

Detailed Description

Base class for actions.

Actions Actions are objects queried for desired behavior by ArActionResolver to determine robot movement commands.

To implement an action object, define a subclass of ArAction, and implement the fire() method. You may also override setRobot() to obtain information from ArRobot, but you must also call ArAction::setRobot() so that the ArRobot pointer is stored by ArAction.

Several predefined action objects are also included in ARIA, they are listed here as ArActions's subclasses.

If an action is not active (it has been deactivated), then it will be ignored by the action resolver. Actions may be grouped using ArActionGroup, and activated/deactivated as a group. For example, ArMode, and ArServerMode (from ArNetworking), activate/deactivate action groups when switching modes.

See also

Actions description in the ARIA overview.

ArActionGroup

ArResolver

ArRobot

Examples:

actionExample.cpp, actsColorFollowingExample.cpp, and joydriveActionExample.cpp.

Member Function Documentation

fire()

virtual ArActionDesired* ArAction::fire ( ArActionDesired  currentDesired )

pure virtual

Fires the action, returning what the action wants to do.

Parameters

currentDesired

this is the tentative result, based on the resolver's processing of previous, higher-priority actions. This is only for the purpose of giving information to the action, changing it has no effect.

Returns

pointer to what this action wants to do, NULL if it wants to do nothing. Common practice is to keep an ArActionDesired object in your action subclass, and return a pointer to that object. This avoids the need to create new objects during each invocation (which could never be deleted). Clear your stored ArActionDesired before modifying it with ArActionDesired::reset().

Implemented in ArActionGoto.

Examples:

actionExample.cpp, actsColorFollowingExample.cpp, and joydriveActionExample.cpp.

getArg()

const ArArg * ArAction::getArg ( int  number ) const

virtual

Gets the numbered argument.

Java and Python Wrappers: Not available

setRobot()

void ArAction::setRobot ( ArRobot *  robot )

virtual

Sets the robot this action is driving.

Java and Python Wrappers: If you override this method in a Java or Python subclass, use setActionRobotObj(ArRobot) instead of trying to call super.setRobot() or ArAction.setRobot(). (SWIG's subclassing "directors" feature cannot properly direct the call to the parent class, an infinite recursion results instead.)

Examples:

actionExample.cpp.

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

• ArAction.h
• ArAction.cpp