#include <ArActionDeceleratingLimiter.h>
Inheritance diagram for ArActionDeceleratingLimiter:
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.
Public Types | |
| BACKWARDS | |
| Limit backwards. | |
| FORWARDS | |
| Limit forwards. | |
| LATERAL_LEFT | |
| Limit lateral left. | |
| LATERAL_RIGHT | |
| Limit lateral right. | |
| enum | LimiterType { FORWARDS, BACKWARDS, LATERAL_LEFT, LATERAL_RIGHT } |
Public Member Functions | |
| void | addToConfig (ArConfig *config, const char *section, const char *prefix=NULL) |
| Adds to the ArConfig given, in section, with prefix. | |
| ArActionDeceleratingLimiter (const char *name="limitAndDecel", LimiterType type=FORWARDS) | |
| Constructor. | |
| virtual ArActionDesired * | fire (ArActionDesired currentDesired) |
| virtual const ArActionDesired * | getDesired (void) const |
| virtual ArActionDesired * | getDesired (void) |
| LimiterType | getType (void) |
| Gets if this will control us when going forwards. | |
| bool | getUseLocationDependentDevices (void) |
| Sets if we're using locationDependent range devices or not. | |
| void | setParameters (double clearance=100, double sideClearanceAtSlowSpeed=50, double paddingAtSlowSpeed=50, double slowSpeed=200, double sideClearanceAtFastSpeed=400, double paddingAtFastSpeed=300, double fastSpeed=1000, double preferredDecel=600, bool useEStop=false, double maxEmergencyDecel=0) |
| Sets the parameters (don't use this if you're using the addToConfig). | |
| void | setType (LimiterType type) |
| Sets if this will control us when going forwards. | |
| void | setUseLocationDependentDevices (bool useLocationDependentDevices) |
| Sets if we're using locationDependent range devices or not. | |
| virtual | ~ArActionDeceleratingLimiter () |
| Destructor. | |
Protected Attributes | |
| double | myClearance |
| ArActionDesired | myDesired |
| double | myFastSpeed |
| bool | myLastStopped |
| double | myMaxEmergencyDecel |
| double | myPaddingAtFastSpeed |
| double | myPaddingAtSlowSpeed |
| double | myPreferredDecel |
| double | mySideClearanceAtFastSpeed |
| double | mySideClearanceAtSlowSpeed |
| double | mySlowSpeed |
| LimiterType | myType |
| bool | myUseEStop |
| bool | myUseLocationDependentDevices |
| ArActionDeceleratingLimiter::ArActionDeceleratingLimiter | ( | const char * | name = "limitAndDecel", |
|
| LimiterType | type = FORWARDS | |||
| ) |
Constructor.
| name | name of the action | |
| type | whether we're an action for going forwards (ArActionDeceleratingLimiter::FORWARDS) backwards (ArActionDeceleratingLimiter::BACKWARDS), or laterally to the left (ArActionDeceleratingLimiter::LATERAL_LEFT) or laterally to the right (ArActionDeceleratingLimiter::LATERAL_RIGHT). This causes ArActionDeceleratingLimiter to choose the right values and choose X or Y translation decelerations and speeds. |
| void ArActionDeceleratingLimiter::setParameters | ( | double | clearance = 100, |
|
| double | sideClearanceAtSlowSpeed = 50, |
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| double | paddingAtSlowSpeed = 50, |
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| double | slowSpeed = 200, |
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| double | sideClearanceAtFastSpeed = 400, |
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| double | paddingAtFastSpeed = 300, |
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| double | fastSpeed = 1000, |
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| double | preferredDecel = 600, |
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| bool | useEStop = false, |
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| double | maxEmergencyDecel = 0 | |||
| ) |
Sets the parameters (don't use this if you're using the addToConfig).
| clearance | distance at which to estop (mm) | |
| sideClearanceAtSlowSpeed | distance on the side to stop for if going at slow speed or slower (mm) | |
| paddingAtSlowSpeed | distance in addition to clerance at which to stop at slow speed (mm) | |
| slowSpeed | speed which we consider to be "slow" (mm/sec) | |
| sideClearanceAtFastSpeed | distance on the side to stop for if going at fast speed or faster (mm) | |
| paddingAtFastSpeed | distance in addition to clerance at which to stop at fast speed (mm) | |
| fastSpeed | speed which we consider to be "fast" (mm/sec) | |
| preferredDecel | the maximum deceleration to slow for obstacles (unless it will be insufficient to keep the clearances free, then decelerate faster) | |
| useEStop | if something is detected within the clearance, cause an immediate emergecy stop | |
| maxEmergencyDecel | ultimate limit on deceleration to apply when slowing for an obstacle detected within clearance (mm/sec/sec); if 0, use the robot's maximum decel parameter. |
1.4.7