#include <ArActionDriveDistance.h>
Inheritance diagram for ArActionDriveDistance:
This action naively drives a fixed distance. The action stops the robot when it has travelled the appropriate distance. It travels at 'speed' mm/sec.
You can give it a distance with setDistance(), cancel its movement with cancelDistance(), and see if it got there with haveAchievedDistance().
You can tell it to go backwards by calling setDistance with a negative value.
This doesn't avoid obstacles or anything, you could add have an limiting ArAction at a higher priority to try to do this (so you don't smash things). (For truly intelligent navigation, see the ARNL or SONARNL software libraries.)
Public Member Functions | |
| ArActionDriveDistance (const char *name="driveDistance", double speed=400, double deceleration=200) | |
| void | cancelDistance (void) |
| Cancels the goal the robot has. | |
| virtual ArActionDesired * | fire (ArActionDesired currentDesired) |
| double | getDeceleration (void) |
| Gets the deceleration the action will use (mm/sec/sec). | |
| virtual const ArActionDesired * | getDesired (void) const |
| virtual ArActionDesired * | getDesired (void) |
| double | getSpeed (void) |
| Gets the speed the action will travel at (mm/sec). | |
| bool | haveAchievedDistance (void) |
| Sees if the goal has been achieved. | |
| void | setDeceleration (double deceleration=200) |
| Sets the deceleration the action will use (mm/sec/sec). | |
| void | setDistance (double distance, bool useEncoders=true) |
| Sets a new goal and sets the action to go there. | |
| void | setPrinting (bool printing) |
| Sets if we're printing or not. | |
| void | setSpeed (double speed=400) |
| Sets the speed the action will travel at (mm/sec). | |
| bool | usingEncoders (void) |
| Gets whether we're using the encoder position or the normal position. | |
Protected Types | |
| enum | State { STATE_NO_DISTANCE, STATE_ACHIEVED_DISTANCE, STATE_GOING_DISTANCE } |
Protected Attributes | |
| double | myDeceleration |
| ArActionDesired | myDesired |
| double | myDistance |
| double | myDistTravelled |
| ArPose | myLastPose |
| double | myLastVel |
| bool | myPrinting |
| double | mySpeed |
| State | myState |
| bool | myUseEncoders |
1.5.1