Aria: ArActionLimiterForwards Class Reference

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# ArActionLimiterForwards Class Reference

`#include <ArActionLimiterForwards.h>`

Inheritance diagram for ArActionLimiterForwards:

List of all members.

## Detailed Description

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

This action uses the sensors to find a maximum forwared speed to travel at; when the range sensor (e.g. sonar or laser) detects obstacles closer than the given parameters, this action requests that the robot decelerate or stop.

## Public Member Functions
| ArActionLimiterForwards (const char *name="speed limiter", double stopDistance=250, double slowDistance=1000, double slowSpeed=200, double widthRatio=1)
| Constructor.
virtual ArActionDesired * | fire (ArActionDesired currentDesired)
virtual const ArActionDesired * | getDesired (void) const
virtual ArActionDesired * | getDesired (void)
void | setParameters (double stopDistance=250, double slowDistance=1000, double slowSpeed=200, double widthRatio=1)
virtual | ~ArActionLimiterForwards ()
| Destructor.
## Protected Attributes
ArActionDesired | myDesired
bool | myLastStopped
double | mySlowDist
double | mySlowSpeed
double | myStopDist
double | myWidthRatio

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

- ArActionLimiterForwards.h