ArActionBumpers Class Reference

Action to deal with if the bumpers trigger. More...

#include <ArActionBumpers.h>

Inherits ArAction.

Public Member Functions
virtual void	activate (void)
	ArActionBumpers (const char *name="bumpers", double backOffSpeed=100, int backOffTime=3000, int turnTime=3000, bool setMaximums=false)
	Constructor. More...
double	findDegreesToTurn (int bumpValue, int whichBumper)
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
virtual ArActionDesired *	getDesired (void)
virtual const ArActionDesired *	getDesired (void) const
virtual	~ArActionBumpers ()
	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 Attributes
double	myBackOffSpeed
int	myBackOffTime
int	myBumpMask
ArActionDesired	myDesired
bool	myFiring
double	myHeading
bool	mySetMaximums
double	mySpeed
ArTime	myStartBack
int	myTurnTime
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 deal with if the bumpers trigger.

This class basically responds to the bumpers the robot has, what the activity things the robot has is decided by the param file. If the robot is going forwards and bumps into something with the front bumpers, it will back up and turn. If the robot is going backwards and bumps into something with the rear bumpers then the robot will move forward and turn.

Examples:

actionGroupExample.cpp, and wander.cpp.

Constructor & Destructor Documentation

ArActionBumpers()

ArActionBumpers::ArActionBumpers	(	const char *	name = "bumpers",
		double	backOffSpeed = 100,
		int	backOffTime = 3000,
		int	turnTime = 3000,
		bool	setMaximums = false
	)

Constructor.

Parameters

name	name of the action instance
backOffSpeed	speed at which to back away (mm/sec)
backOffTime	number of milisecons to back up for (msec)
turnTime	number of milisecons to alow for turn (msec)
setMaximums	if true, set desired maximum translation velocity limits to backOffSpeed while performing the action; if false, retain existing limits.

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

• ArActionBumpers.h
• ArActionBumpers.cpp