Aria  2.8.0
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 ArActionDesiredfire (ArActionDesired currentDesired)
virtual ArActionDesiredgetDesired (void)
virtual const ArActionDesiredgetDesired (void) const
virtual ~ArActionBumpers ()
- Public Member Functions inherited from ArAction
 ArAction (const char *name, const char *description="")
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 ()

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, ArArgmyArgumentMap
std::string myDescription
bool myIsActive
std::string myName
int myNumArgs
 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.

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 


namename of the action instance
backOffSpeedspeed at which to back away (mm/sec)
backOffTimenumber of milisecons to back up for (msec)
turnTimenumber of milisecons to alow for turn (msec)
setMaximumsif true, set desired maximum translation velocity limits to backOffSpeed while performing the action; if false, retain existing limits.

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