ArActionDeceleratingLimiter Class Reference

Action to limit the forwards motion of the robot based on range sensor readings. More...

#include <ArActionDeceleratingLimiter.h>

Inherits ArAction.

Public Types
enum	LimiterType { FORWARDS, BACKWARDS, LATERAL_LEFT, LATERAL_RIGHT }

Public Member Functions
void	addToConfig (ArConfig *config, const char *section, const char *prefix=NULL)
	Adds to the ArConfig given, in section, with prefix.
	ArActionDeceleratingLimiter (const char *name="limitAndDecel", LimiterType type=FORWARDS)
	Constructor. More...
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
virtual ArActionDesired *	getDesired (void)
virtual const ArActionDesired *	getDesired (void) const
LimiterType	getType (void)
	Gets if this will control us when going forwards.
bool	getUseLocationDependentDevices (void)
	Sets if we're using locationDependent range devices or not.
void	setParameters (double clearance=100, double sideClearanceAtSlowSpeed=50, double paddingAtSlowSpeed=50, double slowSpeed=200, double sideClearanceAtFastSpeed=400, double paddingAtFastSpeed=300, double fastSpeed=1000, double preferredDecel=600, bool useEStop=false, double maxEmergencyDecel=0)
	Sets the parameters (don't use this if you're using the addToConfig) More...
void	setStopRotationToo (bool stopRotationToo)
void	setType (LimiterType type)
	Sets if this will control us when going forwards.
void	setUseLocationDependentDevices (bool useLocationDependentDevices)
	Sets if we're using locationDependent range devices or not.
virtual	~ArActionDeceleratingLimiter ()
	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 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	myClearance
ArActionDesired	myDesired
double	myFastSpeed
bool	myLastStopped
double	myMaxEmergencyDecel
double	myPaddingAtFastSpeed
double	myPaddingAtSlowSpeed
double	myPreferredDecel
double	mySideClearanceAtFastSpeed
double	mySideClearanceAtSlowSpeed
double	mySlowSpeed
bool	myStopRotationToo
LimiterType	myType
bool	myUseEStop
bool	myUseLocationDependentDevices
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 limit the forwards motion of the robot based on range sensor readings.

This action uses the robot's range sensors (e.g. sonar, laser) to find a maximum speed at which to travel and will increase the deceleration so that the robot doesn't hit anything. If it has to, it will trigger an estop to avoid a collision.

Note that this cranks up the deceleration with a strong strength, but it checks to see if there is already something decelerating more strongly... so you can put these actions lower in the priority list so things will play together nicely.

Member Enumeration Documentation

LimiterType

enum ArActionDeceleratingLimiter::LimiterType

Enumerator
FORWARDS	Limit forwards.
BACKWARDS	Limit backwards.
LATERAL_LEFT	Limit lateral left.
LATERAL_RIGHT	Limit lateral right.

Constructor & Destructor Documentation

ArActionDeceleratingLimiter()

ArActionDeceleratingLimiter::ArActionDeceleratingLimiter	(	const char *	name = "limitAndDecel",
		LimiterType	type = FORWARDS
	)

Constructor.

Parameters

name	name of the action
type	whether we're an action for going forwards (ArActionDeceleratingLimiter::FORWARDS) backwards (ArActionDeceleratingLimiter::BACKWARDS), or laterally to the left (ArActionDeceleratingLimiter::LATERAL_LEFT) or laterally to the right (ArActionDeceleratingLimiter::LATERAL_RIGHT). This causes ArActionDeceleratingLimiter to choose the right values and choose X or Y translation decelerations and speeds.

Member Function Documentation

setParameters()

void ArActionDeceleratingLimiter::setParameters	(	double	clearance = 100,
		double	sideClearanceAtSlowSpeed = 50,
		double	paddingAtSlowSpeed = 50,
		double	slowSpeed = 200,
		double	sideClearanceAtFastSpeed = 400,
		double	paddingAtFastSpeed = 300,
		double	fastSpeed = 1000,
		double	preferredDecel = 600,
		bool	useEStop = false,
		double	maxEmergencyDecel = 0
	)

Sets the parameters (don't use this if you're using the addToConfig)

Parameters

clearance	distance at which to estop (mm)
sideClearanceAtSlowSpeed	distance on the side to stop for if going at slow speed or slower (mm)
paddingAtSlowSpeed	distance in addition to clerance at which to stop at slow speed (mm)
slowSpeed	speed which we consider to be "slow" (mm/sec)
sideClearanceAtFastSpeed	distance on the side to stop for if going at fast speed or faster (mm)
paddingAtFastSpeed	distance in addition to clerance at which to stop at fast speed (mm)
fastSpeed	speed which we consider to be "fast" (mm/sec)
preferredDecel	the maximum deceleration to slow for obstacles (unless it will be insufficient to keep the clearances free, then decelerate faster)
useEStop	if something is detected within the clearance, cause an immediate emergecy stop
maxEmergencyDecel	ultimate limit on deceleration to apply when slowing for an obstacle detected within clearance (mm/sec/sec); if 0, use the robot's maximum decel parameter.

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

• ArActionDeceleratingLimiter.h
• ArActionDeceleratingLimiter.cpp