Aria  2.8.0
ArActionGotoStraight Class Reference

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

#include <ArActionGotoStraight.h>

Inherits ArAction.

Public Member Functions

 ArActionGotoStraight (const char *name="goto", double speed=400)
 
void cancelGoal (void)
 Cancels the goal the robot has.
 
virtual ArActionDesiredfire (ArActionDesired currentDesired)
 
bool getBacking (void)
 Sets whether we're backing up there or not (set in the setGoals)
 
double getCloseDist (void)
 Gets how close we have to get if we're not in just distance mode.
 
virtual ArActionDesiredgetDesired (void)
 
virtual const ArActionDesiredgetDesired (void) const
 
ArPose getEncoderGoal (void)
 Gets the goal the action has.
 
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.
 
void setCloseDist (double closeDist=100)
 Sets how close we have to get if we're not in just distance mode.
 
void setEncoderGoal (ArPose encoderGoal, bool backwards=false, bool justDistance=true)
 Sets a new goal and sets the action to go there.
 
void setEncoderGoalRel (double dist, double deltaHeading, bool backwards=false, bool justDistance=true)
 Sets the goal in a relative way.
 
void setGoal (ArPose goal, bool backwards=false, bool justDistance=true)
 Sets a new goal and sets the action to go there.
 
void setGoalRel (double dist, double deltaHeading, bool backwards=false, bool justDistance=true)
 Sets the goal in a relative way.
 
void setSpeed (double speed)
 Sets the speed the action will travel to the goal at (mm/sec)
 
bool usingEncoderGoal (void)
 Gets whether we're using the encoder goal or the normal goal.
 
- 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 Types

enum  State { STATE_NO_GOAL, STATE_ACHIEVED_GOAL, STATE_GOING_TO_GOAL }
 

Protected Attributes

bool myBacking
 
double myCloseDist
 
ArActionDesired myDesired
 
double myDist
 
double myDistTravelled
 
ArPose myEncoderGoal
 
ArPose myGoal
 
bool myJustDist
 
ArPose myLastPose
 
bool myPrinting
 
double mySpeed
 
State myState
 
bool myUseEncoderGoal
 
- 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

This action goes to a given ArPose very naively.

This action naively drives straight towards a given ArPose. The action stops the robot when it has travelled the distance that that pose is away. It travels at 'speed' mm/sec.

You can give it a new goal pose with setGoal(), cancel its movement with cancelGoal(), and see if it got there with haveAchievedGoal().

For arguments to the goals and encoder goals you can tell it to go backwards by calling them with the backwards parameter true. If you set the justDistance to true it will only really care about having driven the distance, if false it'll try to get to the spot you wanted within close distance.

This doesn't avoid obstacles or anything, you could add have an obstacle avoidance ArAction at a higher priority to try to do this. (For truly intelligent navigation, see the ARNL and SONARNL software libraries.)


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