ArActionBumpers Class Reference

#include <ArActionBumpers.h>

Inheritance diagram for ArActionBumpers:

List of all members.

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Detailed Description

Action to deal with if the bumpers trigger.

This class basically responds to the bumpers the robot has, what the activity things the robot has is decided by the param file. If the robot is going forwards and bumps into something with the front bumpers, it will back up and turn. If the robot is going backwards and bumps into something with the rear bumpers then the robot will move forward and turn.

Examples:

actionGroupExample.cpp.

Public Member Functions
	ArActionBumpers (const char *name="bumpers", double backOffSpeed=100, int backOffTime=3000, int turnTime=3000, bool setMaximums=false)
	Constructor.
double	findDegreesToTurn (int bumpValue, int whichBumper)
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
virtual const ArActionDesired *	getDesired (void) const
virtual ArActionDesired *	getDesired (void)
virtual	~ArActionBumpers ()
	Destructor.
Protected Attributes
double	myBackOffSpeed
int	myBackOffTime
int	myBumpMask
ArActionDesired	myDesired
bool	myFiring
double	myHeading
bool	mySetMaximums
double	mySpeed
ArTime	myStartBack
int	myTurnTime

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Constructor & Destructor Documentation

ArActionBumpers::ArActionBumpers	(	const char *	name = "bumpers",
		double	backOffSpeed = 100,
		int	backOffTime = 3000,
		int	turnTime = 3000,
		bool	setMaximums = false
	)

Constructor.

Parameters:

	name	name of the action instance
	backOffSpeed	speed at which to back away (mm/sec)
	backOffTime	number of milisecons to back up for (msec)
	turnTime	number of milisecons to alow for turn (msec)
	setMaximums	if true, set desired maximum translation velocity limits to backOffSpeed while performing the action; if false, retain existing limits.

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

• ArActionBumpers.h
• ArActionBumpers.cpp

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