Aria: ArActionIRs Class Reference

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# ArActionIRs Class Reference

`#include <ArActionIRs.h>`

Inheritance diagram for ArActionIRs:

List of all members.

## Detailed Description

Action to back up if short-range IR sensors trigger.

If the robot has front-mounted binary (triggered/not triggered) IR sensors, this action will respond to a sensor trigger by backing up and perhaps turning, similar to bumpers. This action assumes that if an IR triggers, the robot caused it by moving forward into or under an obstacle, and backing up is a good reaction.

## Public Member Functions
| ArActionIRs (const char *name="IRs", double backOffSpeed=100, int backOffTime=5000, int turnTime=3000, bool setMaximums=false)
| Constructor.
virtual ArActionDesired * | fire (ArActionDesired currentDesired)
virtual const ArActionDesired * | getDesired (void) const
virtual ArActionDesired * | getDesired (void)
virtual void | setRobot (ArRobot *robot)
virtual | ~ArActionIRs ()
| Destructor.
## Protected Attributes
std::vector< int > | cycleCounters
double | myBackOffSpeed
int | myBackOffTime
ArActionDesired | myDesired
bool | myFiring
double | myHeading
ArRobotParams | myParams
bool | mySetMaximums
double | mySpeed
ArTime | myStartBack
int | myStopTime
int | myTurnTime
ArTime | stoppedSince

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

- ArActionIRs.h