Aria  2.8.0
ArActionAvoidSide Class Reference

Action to avoid impacts by firening into walls at a shallow angle. More...

#include <ArActionAvoidSide.h>

Inherits ArAction.

Public Member Functions

 ArActionAvoidSide (const char *name="Avoid side", double obstacleDistance=300, double turnAmount=5)
 Constructor. More...
 
virtual ArActionDesiredfire (ArActionDesired currentDesired)
 
virtual ArActionDesiredgetDesired (void)
 
virtual const ArActionDesiredgetDesired (void) const
 
virtual ~ArActionAvoidSide ()
 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 ArArggetArg (int number) const
 Gets the numbered argument. More...
 
virtual ArArggetArg (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.
 
ArRobotgetRobot () 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
 
double myObsDist
 
double myTurnAmount
 
bool myTurning
 
- Protected Attributes inherited from ArAction
std::map< int, ArArgmyArgumentMap
 
std::string myDescription
 
bool myIsActive
 
std::string myName
 
int myNumArgs
 
ArRobotmyRobot
 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 avoid impacts by firening into walls at a shallow angle.

This action watches the sensors to see if it is close to firening into a wall at a shallow enough angle that other avoidance may not avoid.

Constructor & Destructor Documentation

◆ ArActionAvoidSide()

ArActionAvoidSide::ArActionAvoidSide ( const char *  name = "Avoid side",
double  obstacleDistance = 300,
double  turnAmount = 5 
)

Constructor.

Parameters
namename of the action
obstacleDistancedistance at which to start avoiding (mm)
turnAmountdegrees at which to turn (deg)

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