#include <ArActionStallRecover.h>
Inheritance diagram for ArActionStallRecover:
This action tries to recover if one of the wheels has stalled, it has a series of actions it tries in order to get out of the stall.
Public Member Functions | |
| void | addToConfig (ArConfig *config, const char *sectionName, int priority=ArPriority::NORMAL) |
| ArActionStallRecover (const char *name="stall recover", double obstacleDistance=225, int cyclesToMove=50, double speed=150, double degreesToTurn=45) | |
| Constructor. | |
| virtual ArActionDesired * | fire (ArActionDesired currentDesired) |
| virtual const ArActionDesired * | getDesired (void) const |
| virtual ArActionDesired * | getDesired (void) |
| virtual | ~ArActionStallRecover () |
| Destructor. | |
Protected Types | |
| BACK = 0x1 | |
| FORWARD = 0x2 | |
| MOVEMASK = BACK | FORWARD | |
| enum | State { STATE_NOTHING = 0, STATE_GOING } |
| STATE_GOING | |
| STATE_NOTHING = 0 | |
| TURN = 0x4 | |
| TURN_LEFT = 0x8 | |
| TURN_RIGHT = 0x10 | |
| TURNMASK = TURN | TURN_LEFT | TURN_RIGHT | |
| enum | What { BACK = 0x1, FORWARD = 0x2, TURN = 0x4, TURN_LEFT = 0x8, TURN_RIGHT = 0x10, MOVEMASK = BACK | FORWARD, TURNMASK = TURN | TURN_LEFT | TURN_RIGHT } |
Protected Member Functions | |
| void | addSequence (int sequence) |
| void | doit (void) |
Protected Attributes | |
| ArActionDesired | myActionDesired |
| int | myCount |
| int | myCyclesToMove |
| int | myCyclesToTurn |
| double | myDegreesToTurn |
| double | myDesiredHeading |
| int | myDoing |
| time_t | myLastFired |
| double | myObstacleDistance |
| ArResolver * | myResolver |
| std::map< int, int > | mySequence |
| int | mySequenceNum |
| int | mySequencePos |
| int | mySideStalled |
| double | mySpeed |
| int | myState |
| ArActionStallRecover::ArActionStallRecover | ( | const char * | name = "stall recover", |
|
| double | obstacleDistance = 225, |
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| int | cyclesToMove = 50, |
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| double | speed = 150, |
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| double | degreesToTurn = 45 | |||
| ) |
Constructor.
| name | name of the action | |
| obstacleDistance | distance at which not to move because of obstacle. (mm) | |
| cyclesToMove | number of cycles to move (# of cycles) | |
| speed | speed at which to back up or go forward (mm/sec) | |
| degreesToTurn | number of degrees to turn (deg) |
1.4.7