ArActionLimiterBackwards Class Reference

#include <ArActionLimiterBackwards.h>

Inheritance diagram for ArActionLimiterBackwards:

List of all members.

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Detailed Description

Action to limit the backwards motion of the robot based on range sensor readings.

This class limits the backwards motion of the robot according to range sensor readings (e.g. sonar, laser), and the parameters given. When the range sensor (e.g. sonar or laser) detects rearward obstacles closer than the given parameters, this action requests that the robot decelerate or stop any current backwards movement.

Examples:

actionGroupExample.cpp.

Public Member Functions
	ArActionLimiterBackwards (const char *name="speed limiter", double stopDistance=-250, double slowDistance=-600, double maxBackwardsSpeed=-250, double widthRatio=1.5)
	Constructor.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
virtual const ArActionDesired *	getDesired (void) const
virtual ArActionDesired *	getDesired (void)
virtual	~ArActionLimiterBackwards ()
	Destructor.
Protected Attributes
ArActionDesired	myDesired
double	myMaxBackwardsSpeed
double	mySlowDist
double	myStopDist
double	myWidthRatio

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Constructor & Destructor Documentation

ArActionLimiterBackwards::ArActionLimiterBackwards	(	const char *	name = "speed limiter",
		double	stopDistance = -250,
		double	slowDistance = -600,
		double	maxBackwardsSpeed = -250,
		double	widthRatio = 1.5
	)

Constructor.

Parameters:

	name	name of the action
	stopDistance	distance at which to stop (mm)
	slowDistance	distance at which to slow down (mm)
	maxBackwardsSpeed	maximum backwards speed, speed allowed scales from this to 0 at the stop distance (mm/sec)
	widthRatio	The ratio of robot width to the width of the region this action checks for sensor readings.

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

• ArActionLimiterBackwards.h
• ArActionLimiterBackwards.cpp

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