This action goes to a given ArPose very naively. More...

#include <ArActionGoto.h>

Public Member Functions
	ArActionGoto (const char *name="goto", ArPose goal=ArPose(0.0, 0.0, 0.0), double closeDist=100, double speed=400, double speedToTurnAt=150, double turnAmount=7)

void	cancelGoal (void)
	Cancels the goal; this action will stop requesting movement. More...

virtual ArActionDesired *	fire (ArActionDesired currentDesired)
	Called by the action resover; request movement towards goal if we have one. More...

double	getCloseDist (void)
	Gets the distance which is close enough to the goal (mm)

virtual ArActionDesired *	getDesired (void)
	Used by the action resolvel; return current desired action. More...

virtual const ArActionDesired *	getDesired (void) const

ArPose	getGoal (void)
	Gets the goal the action has.

double	getSpeed (void)
	Gets the speed the action will travel to the goal at (mm/sec)

bool	haveAchievedGoal (void)
	Sees if the goal has been achieved. More...

void	setCloseDist (double closeDist)
	Set the distance which is close enough to the goal (mm);.

void	setGoal (ArPose goal)
	Sets a new goal and sets the action to go there.

void	setSpeed (double speed)
	Sets the speed the action will travel to the goal at (mm/sec)

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 Types
enum	State { STATE_NO_GOAL, STATE_ACHIEVED_GOAL, STATE_GOING_TO_GOAL }

Protected Attributes
double	myCloseDist

double	myCurTurnDir

ArActionDesired	myDesired

double	myDirectionToTurn

ArPose	myGoal

ArPose	myOldGoal

bool	myPrinting

double	mySpeed

double	mySpeedToTurnAt

State	myState

double	myTurnAmount

bool	myTurnedBack

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

This action goes to a given ArPose very naively.

This action naively drives straight towards a given ArPose. the action stops when it gets to be a certain distance (closeDist) from the goal pose. It travels at the given speed (mm/sec).

You can give it a new goal with setGoal(), clear the current goal with cancelGoal(), and see if it got there with haveAchievedGoal(). Once the goal is reached, this action stops requesting any action.

This doesn't avoid obstacles or anything, you could have an avoid routine at a higher priority to avoid on the way there... but for real and intelligent looking navigation you should use something like ARNL, or build on these actions.

Examples:: gotoActionExample.cpp.

Member Function Documentation

◆ cancelGoal()

void ArActionGoto::cancelGoal ( void )

Cancels the goal; this action will stop requesting movement.

However, any currently requested motion (either previously requested by this action or by another action) will continue to be used. Use an ArActionStop action (activate it, or set it at a lower priority) to stop the robot.

Examples:: gotoActionExample.cpp.

◆ fire()

ArActionDesired * ArActionGoto::fire ( ArActionDesired currentDesired )

virtual

Called by the action resover; request movement towards goal if we have one.

Parameters

currentDesired Current desired action from the resolver

Implements ArAction.

◆ getDesired()

virtual ArActionDesired* ArActionGoto::getDesired ( void )

inlinevirtual

Used by the action resolvel; return current desired action.

Reimplemented from ArAction.

◆ haveAchievedGoal()

bool ArActionGoto::haveAchievedGoal ( void )

Sees if the goal has been achieved.

The goal is achieved when the robot's repordet position is within a certain distance (given in the constructor or in setCloseDist) from the goal pose.

Examples:: gotoActionExample.cpp.

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

ArActionGoto.h
ArActionGoto.cpp

Public Member Functions

Protected Types