ArActionPlanAndMoveToGoal Class Reference

#include <ArPathPlanningTask.h>

List of all members.

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Detailed Description

This is the action for local obstacle avoidance and path following. This class uses the ArPathPlanningTask methods to drive the robot safely.

Public Member Functions
	ArActionPlanAndMoveToGoal (double maxVel, double maxRotVel, ArPathPlanningTask *ppt, ArRangeDevice *laser, ArRangeDevice *sonar)
	Constructor, sets the maximums and the parent pointer.
virtual	~ArActionPlanAndMoveToGoal (void)
	Destructor, no new objects, we don't need to do anything.
virtual ArActionDesired *	fire (ArActionDesired currentDesired)
	Fire, this is what the resolver calls to find out what this action wants.
virtual void	deactivate (void)
	Overrides base deactivate to uninitialize ArPathPlanningTask.
void	setTotalVel (double lvel, double avel)
	Set the two vels.
void	setEndMoveParams (void)
	Set end move params such as accels and decels for fine positioning.
void	setHeadingParams (void)
	Set params such as accels and decels for heading only situations.
void	clearRangeDevices (void)
	Clear the range devices.
void	clearCumRangeDevices (unsigned int cyt)
	Clear the cumulative range devices.
void	setMaxVel (double v)
	Set max vel.
void	setMaxRotVel (double r)
	Set max rot vel.
void	setFailedTimes (int i)
	Set times failed.
void	setRangeFactor (double r)
	Set range factor.
void	setEndMoveFlag (bool f)
	Set end move flag.
void	setPlanState (ArPathPlanningTask::LocalPlanningState s)
	Set plan state.
void	setReplannedTimes (int f)
	Set the no of times to replan to a goal.
double	getMaxVel (void)
	Get max vel.
double	getRotMaxVel (void)
	Get max rot vel.
int	getFailedTimes (void)
	Get times failed.
double	getRangeFactor (void)
	Get range factor.
bool	getEndMoveFlag (void)
	Get end move flag.
ArPathPlanningTask::LocalPlanningState	getPlanState (void)
	Get last plan state.
int	getReplannedTimes (void)
	Set the no of times to replan to a goal.
void	setCurrentDynamicParams (ArActionDesired curDesired)
	Set the desired action.
double	getFailedTimeRatio (void)
	This gets how close we are to failing as a ratio between 0 and 1.
virtual ArActionDesired *	getDesired (void)
	Get the desired action.
double	computeSafeDecel (double obsDist, double linVel, double rotVel, double currentDecel, bool &eStopFlag, bool &brakeFlag)
	Computes the safe deceleration from obstacle distance if any.
ArActionDesired *	stop (double obsDist, double linVel, double rotVel, double currentDecel)
Protected Attributes
ArRangeDevice *	myLaser
	This holds the laser info.
ArRangeDevice *	mySonar
	Holds sonar stuff.
ArActionDesired	myDesired
	What the action wants to do.
double	myMaxVel
	Max translational velocity.
double	myMaxRotVel
	Max rotational velocity.
double	myVel
	Current linear velocity.
double	myRotVel
	Current angular velocity.
double	myHeading
	Current heading;.
ArPathPlanningTask *	myPathPlanningTask
	Link to the class that does the actual path planning.
int	myFailedTimes
	Failed times.
double	myRangeFactor
	Range factor.
bool	myEndMoveFlag
	End move flag.
ArPose	myEndMoveEncoderGoal
	End move position.
ArPathPlanningTask::LocalPlanningState	myPlanState
	Planning state.
int	myReplannedTimes
	No of times the same goal was replanned.

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Constructor & Destructor Documentation

ArActionPlanAndMoveToGoal::ArActionPlanAndMoveToGoal	(	double	maxVel,
		double	maxRotVel,
		ArPathPlanningTask *	ppt,
		ArRangeDevice *	laser,
		ArRangeDevice *	sonar
	)

Constructor, sets the maximums and the parent pointer.

Parameters:

	maxVel,:	Maximum translational velocity.
	maxRotVel,:	Maximum rotational velocity.
	ppt,:	The pointer to the pathplanning class which does the work.

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Member Function Documentation

ArActionDesired * ArActionPlanAndMoveToGoal::fire

(

ArActionDesired

currentDesired

)

[virtual]

Fire, this is what the resolver calls to find out what this action wants.

This is the guts of the action. Virtual function redefined. Here the path planning flags and variables are used to set the actual robot velocity.

Parameters:

currentDesired,:

The ArActionDesired pointer.

void ArActionPlanAndMoveToGoal::deactivate

(

void

)

[virtual]

Overrides base deactivate to uninitialize ArPathPlanningTask.

deactivates the action.

void ArActionPlanAndMoveToGoal::setTotalVel	(	double	linVel,
		double	rotVel
	)

Set the two vels.

Sets the linear and rotational velocites at a shot.

Parameters:

	linVel,:	Linear velocity to be set in the action.
	rotVel,:	Angular velocity to be set in the action.

void ArActionPlanAndMoveToGoal::setEndMoveParams

(

void

)

Set end move params such as accels and decels for fine positioning.

Sets the vel, accel, decel params for the end move.

void ArActionPlanAndMoveToGoal::setHeadingParams

(

void

)

Set params such as accels and decels for heading only situations.

Sets the vel, accel, decel params for the heading.

void ArActionPlanAndMoveToGoal::setCurrentDynamicParams

(

ArActionDesired

currentDesired

)

Set the desired action.

Sets the motion params by looking at the actions which are based on the sectors the robot is at.

Parameters:

currentDesired,:

The global action desired.

double ArActionPlanAndMoveToGoal::computeSafeDecel	(	double	obsDist,
		double	linVel,
		double	rotVel,
		double	currentDecel,
		bool &	eStopFlag,
		bool &	brakeFlag
	)

Computes the safe deceleration from obstacle distance if any.

Computes the safe deceleration with the given obstacle distance and current velocities. If needed it will compute the additional braking deceleration and call the EStop in the worst case.

Parameters:

	obsDist,:	Distance to obstacle on the current path.
	linVel,:	Current linear velocity.
	rotVel,:	Current rotational velocity.
	currentDecel,:	Current deceleration.
	eStopFlag,:	returns true if estop is needed to avoid collision.
	brakeFlag,:	returns true if more braking than currentDecel is needed.

Returns:

The computed deceleration.

ArActionDesired * ArActionPlanAndMoveToGoal::stop	(	double	obsDist,
		double	linVel,
		double	rotVel,
		double	currentDecel
	)

Stop the robot. Brake harder if necessary.

: Distance to obstacle on the current path. : Current linear velocity. : Current rotational velocity. : Current deceleration.

Returns:

The action desired filled in.

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