KeepDistanceTask Class Reference

Task for keeping a specified distance to obstacles. More...

#include <navigation/tasks/KeepDistanceTask.h>

Inheritance diagram for KeepDistanceTask:

Public Member Functions
	KeepDistanceTask ()
	Creates a task with all distances 0. More...
	KeepDistanceTask (float minDist, float desiredDist)
	Creates a task with specified min/desired distances, criticalDistance = minDistance - 0.05. More...
	KeepDistanceTask (float minDist, float desiredDist, float criticalDistance)
	Creates a task with specified min/desired/critical distances. More...
template<typename Reflector >
void	reflect (Reflector &r)
	The reflect method. More...
Class const &	getClass () const

Static Public Member Functions
static PseudoClass const &	CLASS ()

Public Attributes
float	minDistance
float	desiredDistance
float	criticalDistance

Protected Member Functions
virtual Class const &	internalGetClass () const=0

Detailed Description

Task for keeping a specified distance to obstacles.

Obstacles are not "just" avoided but the robot tries to keep away from them in the specified distance.

Constructor & Destructor Documentation

KeepDistanceTask() [1/3]

KeepDistanceTask ( )

inline

Creates a task with all distances 0.

KeepDistanceTask() [2/3]

KeepDistanceTask ( float  minDist, float  desiredDist  )

inline

Creates a task with specified min/desired distances, criticalDistance = minDistance - 0.05.

Parameters

[in]	minDist	The minimum distance to keep from obstacles.
[in]	desiredDist	The desired distance to keep from obstacles.

KeepDistanceTask() [3/3]

KeepDistanceTask ( float  minDist, float  desiredDist, float  criticalDistance  )

inline

Creates a task with specified min/desired/critical distances.

Parameters

[in]	minDist	The minimum distance to keep from obstacles.
[in]	desiredDist	The desired distance to keep from obstacles.
[in]	criticalDist	The distance that triggers recovery.

Member Function Documentation

reflect()

void reflect ( Reflector &  r )

inline

The reflect method.

Member Data Documentation

minDistance

float minDistance

desiredDistance

float desiredDistance

criticalDistance

float criticalDistance

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

• include/navigation/tasks/KeepDistanceTask.h