Aria  2.8.0
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

Enumerator
FORWARDS 

Limit forwards.

BACKWARDS 

Limit backwards.

LATERAL_LEFT 

Limit lateral left.

LATERAL_RIGHT 

Limit lateral right.

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