Aria: ArActionLimiterBackwards Class Reference

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# ArActionLimiterBackwards Class Reference

`#include <ArActionLimiterBackwards.h>`

Inheritance diagram for ArActionLimiterBackwards:

List of all members.

## 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.

## 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

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

- ArActionLimiterBackwards.h