Predefined ArAction Classes

These classes implement component behaviors as ArAction subclasses (see ArAction and the overview for more details on actions) More...

Classes
class	ArAction
	Base class for actions. More...
class	ArActionAvoidFront
	This action does obstacle avoidance, controlling both trans and rot. More...
class	ArActionAvoidSide
	Action to avoid impacts by firening into walls at a shallow angle. More...
class	ArActionBumpers
	Action to deal with if the bumpers trigger. More...
class	ArActionColorFollow
	ArActionColorFollow is an action that moves the robot toward the largest ACTS blob that appears in it's current field of view. More...
class	ArActionConstantVelocity
	Action for going straight at a constant velocity. More...
class	ArActionDeceleratingLimiter
	Action to limit the forwards motion of the robot based on range sensor readings. More...
class	ArActionDriveDistance
	This action goes to a given ArPose very naively. More...
class	ArActionGoto
	This action goes to a given ArPose very naively. More...
class	ArActionGotoStraight
	This action goes to a given ArPose very naively. More...
class	ArActionGroup
	Group a set of ArAction objects together. More...
class	ArActionInput
	Action for taking input from outside to control the robot. More...
class	ArActionIRs
	Action to back up if short-range IR sensors trigger. More...
class	ArActionJoydrive
	This action will use the joystick for input to drive the robot. More...
class	ArActionKeydrive
	This action will use the keyboard arrow keys for input to drive the robot. More...
class	ArActionLimiterBackwards
	Action to limit the backwards motion of the robot based on range sensor readings. More...
class	ArActionLimiterForwards
	Action to limit the forwards motion of the robot based on range sensor readings. More...
class	ArActionLimiterRot
	Action to limit the forwards motion of the robot based on range sensor readings. More...
class	ArActionLimiterTableSensor
	Action to limit speed (and stop) based on whether the "table"-sensors see anything. More...
class	ArActionMovementParameters
	This is a class for setting max velocities and accels and decels via ArConfig parameters (see addToConfig()) or manually (using setParameters()) More...
class	ArActionMovementParametersDebugging
	This is a class for setting max velocities and accels and decels via ArConfig parameters (see addToConfig());. More...
class	ArActionRatioInput
	Action that requests motion based on abstract ratios provided by diferent input sources. More...
class	ArActionRobotJoydrive
	This action will use the joystick for input to drive the robot. More...
class	ArActionStallRecover
	Action to recover from a stall. More...
class	ArActionStop
	Action for stopping the robot. More...
class	ArActionTriangleDriveTo
	Action to drive up to a triangle target (e.g. docking station) found from an ArLineFinder. More...
class	ArActionTurn
	Action to turn when the behaviors with more priority have limited the speed. More...
class	ArActionTriangleDriveTo::Data
	This is for some internal debugging, don't try to use it, it won't work in windows (memory allocation issues). More...

Enumerations
enum	ArActionDeceleratingLimiter::LimiterType { ArActionDeceleratingLimiter::FORWARDS, ArActionDeceleratingLimiter::BACKWARDS, ArActionDeceleratingLimiter::LATERAL_LEFT, ArActionDeceleratingLimiter::LATERAL_RIGHT }
enum	LocationState { LEFT, RIGHT, CENTER }
enum	MoveState { FOLLOWING, ACQUIRING, STOPPED }
enum	RotRegime { NONE, ROTVEL, DELTAHEADING, SETHEADING }
enum	State { STATE_NOTHING = 0, STATE_GOING }
enum	State { STATE_NO_DISTANCE, STATE_ACHIEVED_DISTANCE, STATE_GOING_DISTANCE }
enum	State { STATE_NO_GOAL, STATE_ACHIEVED_GOAL, STATE_GOING_TO_GOAL }
enum	State { STATE_NO_GOAL, STATE_ACHIEVED_GOAL, STATE_GOING_TO_GOAL }
enum	ArActionTriangleDriveTo::State {   ArActionTriangleDriveTo::STATE_INACTIVE, ArActionTriangleDriveTo::STATE_ACQUIRE, ArActionTriangleDriveTo::STATE_SEARCHING, ArActionTriangleDriveTo::STATE_GOTO_APPROACH,   ArActionTriangleDriveTo::STATE_ALIGN_APPROACH, ArActionTriangleDriveTo::STATE_GOTO_VERTEX, ArActionTriangleDriveTo::STATE_GOTO_FINAL, ArActionTriangleDriveTo::STATE_ALIGN_FINAL,   ArActionTriangleDriveTo::STATE_SUCCEEDED, ArActionTriangleDriveTo::STATE_FAILED }
enum	TargetState { NO_TARGET, TARGET }
enum	What {   BACK =0x1, FORWARD =0x2, TURN =0x4, TURN_LEFT =0x8,   TURN_RIGHT =0x10, MOVEMASK = BACK | FORWARD, TURNMASK = TURN | TURN_LEFT | TURN_RIGHT }

Detailed Description

These classes implement component behaviors as ArAction subclasses (see ArAction and the overview for more details on actions)

Enumeration Type Documentation

enum ArActionDeceleratingLimiter::LimiterType

Enumerator
FORWARDS	Limit forwards.
BACKWARDS	Limit backwards.
LATERAL_LEFT	Limit lateral left.
LATERAL_RIGHT	Limit lateral right.

enum ArActionTriangleDriveTo::State

Enumerator
STATE_INACTIVE	we aren't trying
STATE_ACQUIRE	finding the target
STATE_SEARCHING	Turning trying to find the target.
STATE_GOTO_APPROACH	driving to the approach point
STATE_ALIGN_APPROACH	aligning to the target the first time
STATE_GOTO_VERTEX	driving to the vertex
STATE_GOTO_FINAL	driving to the final point
STATE_ALIGN_FINAL	aligning to the target the final time
STATE_SUCCEEDED	pointing at the target
STATE_FAILED	if we're not acquiring and we lost the vertex we fail