ArActionLimiterForwards Class Reference

#include <ArActionLimiterForwards.h>

Inheritance diagram for ArActionLimiterForwards:

List of all members.

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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

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

• ArActionLimiterForwards.h

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