ArActionLimiterRot Class Reference
Action to limit the forwards motion of the robot based on range sensor readings. More...
#include <ArActionLimiterRot.h>
Inherits ArAction.
Public Member Functions | |
| void | addToConfig (ArConfig *config, const char *section, const char *prefix=NULL) |
| Adds to the ArConfig given, in section, with prefix. | |
| ArActionLimiterRot (const char *name="limitRot") | |
| Constructor. More... | |
| virtual ArActionDesired * | fire (ArActionDesired currentDesired) |
| virtual ArActionDesired * | getDesired (void) |
| virtual const ArActionDesired * | getDesired (void) const |
| bool | getUseLocationDependentDevices (void) |
| Sets if we're using locationDependent range devices or not. | |
| void | setParameters (bool checkRadius=false, double inRadiusSpeed=0) |
| Sets the parameters (don't use this if you're using the addToConfig) More... | |
| void | setUseLocationDependentDevices (bool useLocationDependentDevices) |
| Sets if we're using locationDependent range devices or not. | |
| virtual | ~ArActionLimiterRot () |
| 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 | |
| bool | myCheckRadius |
| ArActionDesired | myDesired |
| double | myInRadiusSpeed |
| 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.
Constructor & Destructor Documentation
◆ ArActionLimiterRot()
| ArActionLimiterRot::ArActionLimiterRot | ( | const char * | name = "limitRot" | ) |
Constructor.
- Parameters
-
name name of the action
Member Function Documentation
◆ setParameters()
| void ArActionLimiterRot::setParameters | ( | bool | checkRadius = false, |
| double | inRadiusSpeed = 0 |
||
| ) |
Sets the parameters (don't use this if you're using the addToConfig)
- Parameters
-
checkRadius True to check the radius and apply this speed, false not to inRadiusSpeed the speed to go at if something is in the radius
The documentation for this class was generated from the following files:
- ArActionLimiterRot.h
- ArActionLimiterRot.cpp
