Aria  2.8.0
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 ArActionDesiredfire (ArActionDesired currentDesired)
virtual ArActionDesiredgetDesired (void)
virtual const ArActionDesiredgetDesired (void) const
virtual void setRobot (ArRobot *robot)
virtual ~ArActionIRs ()
- Public Member Functions inherited from ArAction
virtual void activate (void)
 Activate the action.
 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 ~ArAction ()

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, 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 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,
int  backOffTime = 5000,
int  turnTime = 3000,
bool  setMaximums = false 


namename of the action
backOffSpeedspeed at which to back away (mm/sec)
backOffTimenumber of msec to back up for (msec)
turnTimenumber of msec to alow for turn (msec)
setMaximumsif 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: