DualCoding::Pilot::CollisionChecker Class Reference
Collision checker service; its behavior is model-dependent. More...
#include <Pilot.h>
Detailed Description
Collision checker service; its behavior is model-dependent.
On the Create and Calliope it uses the bump switches and motor torques
Definition at line 193 of file Pilot.h.
Public Member Functions | |
| CollisionChecker (const std::string &nodename="CollisionChecker") | |
| virtual void | doStart () |
| Delegate function for subclasses to be notified when the behavior starts up. | |
| virtual void | doEvent () |
| Delegate function for event processing, the event itself is pointed to (only for the duration of the doEvent() call!) by event. | |
| virtual void | enableDetection () |
| virtual void | disableDetection (unsigned int howlong) |
| virtual void | reportCollision () |
Public Attributes | |
| int | overcurrentCounter |
| count Create overcurrent button events to eliminate transients | |
Static Public Attributes | |
| static unsigned int const | collisionEnableTimer = 1 |
| static unsigned int const | overcurrentResetTimer = 2 |
Constructor & Destructor Documentation
| DualCoding::Pilot::CollisionChecker::CollisionChecker | ( | const std::string & | nodename = "CollisionChecker" |
) |
Member Function Documentation
| virtual void DualCoding::Pilot::CollisionChecker::disableDetection | ( | unsigned int | howlong | ) | [virtual] |
| virtual void DualCoding::Pilot::CollisionChecker::doEvent | ( | ) | [virtual] |
Delegate function for event processing, the event itself is pointed to (only for the duration of the doEvent() call!) by event.
Default implementation watches for 'private' text message events (those forwarded by a BehaviorSwitchControl from ControllerGUI input) and will publically rebroadcast them. The idea is that your own processEvent gets first dibs, but if the behavior doesn't handle the text message, it will be handed off for others.
Reimplemented from BehaviorBase.
| virtual void DualCoding::Pilot::CollisionChecker::doStart | ( | ) | [virtual] |
Delegate function for subclasses to be notified when the behavior starts up.
Should be overridden by subclasses to subscribe to events, install motion commands, etc.
doStart() is basically a hook to allow subclasses to jump in and do some customization of behavior parameters while the behavior is starting. If you are writing a behavior class and do not expect further derivation, just override doStart() yourself. However, if you do expect further derivation of your class, consider using preStart() or postStart() instead, and leave doStart() for the 'leaf' classes.
Reimplemented from BehaviorBase.
| virtual void DualCoding::Pilot::CollisionChecker::enableDetection | ( | ) | [virtual] |
| virtual void DualCoding::Pilot::CollisionChecker::reportCollision | ( | ) | [virtual] |
Member Data Documentation
unsigned int const DualCoding::Pilot::CollisionChecker::collisionEnableTimer = 1 [static] |
unsigned int const DualCoding::Pilot::CollisionChecker::overcurrentResetTimer = 2 [static] |
The documentation for this class was generated from the following file:
