ArActionIRs Class Reference
Action to back up if short-range IR sensors trigger. More...
#include <ArActionIRs.h>
Inherits ArAction.
Public Member Functions | |
| ArActionIRs (const char *name="IRs", double backOffSpeed=100, int backOffTime=5000, int turnTime=3000, bool setMaximums=false) | |
| Constructor. More... | |
| virtual ArActionDesired * | fire (ArActionDesired currentDesired) |
| virtual ArActionDesired * | getDesired (void) |
| virtual const ArActionDesired * | getDesired (void) const |
| virtual void | setRobot (ArRobot *robot) |
| virtual | ~ArActionIRs () |
| 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 | ~ArAction () |
| Desructor. | |
Protected Attributes | |
| std::vector< int > | cycleCounters |
| double | myBackOffSpeed |
| int | myBackOffTime |
| ArActionDesired | myDesired |
| bool | myFiring |
| double | myHeading |
| ArRobotParams | myParams |
| bool | mySetMaximums |
| double | mySpeed |
| ArTime | myStartBack |
| int | myStopTime |
| int | myTurnTime |
| ArTime | stoppedSince |
| 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 back up if short-range IR sensors trigger.
If the robot has front-mounted binary (triggered/not triggered) IR sensors, this action will respond to a sensor trigger by backing up and perhaps turning, similar to bumpers. This action assumes that if an IR triggers, the robot caused it by moving forward into or under an obstacle, and backing up is a good reaction.
Constructor & Destructor Documentation
◆ ArActionIRs()
| ArActionIRs::ArActionIRs | ( | const char * | name = "IRs", |
| double | backOffSpeed = 100, |
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| int | backOffTime = 5000, |
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| int | turnTime = 3000, |
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| bool | setMaximums = false |
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| ) |
Constructor.
- Parameters
-
name name of the action backOffSpeed speed at which to back away (mm/sec) backOffTime number of msec to back up for (msec) turnTime number of msec to alow for turn (msec) setMaximums if true, set desired maximum speed limits to backOffSpeed when performing the action; otherwise use existing speed limits.
The documentation for this class was generated from the following files:
- ArActionIRs.h
- ArActionIRs.cpp
