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DualCoding::Pilot::CollisionChecker Class Reference

Collision checker service; its behavior is model-dependent. More...

#include <Pilot.h>

Inheritance diagram for DualCoding::Pilot::CollisionChecker:

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.

List of all members.

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"  ) 

Definition at line 195 of file Pilot.h.


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

Definition at line 202 of file Pilot.h.

count Create overcurrent button events to eliminate transients

Definition at line 201 of file Pilot.h.

Definition at line 203 of file Pilot.h.


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

Tekkotsu v5.1CVS
Generated Mon May 9 04:59:20 2016 by Doxygen 1.6.3