#include <ArActionColorFollow.h>

Inherits ArAction.

Public Types
enum	LocationState { LEFT, RIGHT, CENTER }

enum	MoveState { FOLLOWING, ACQUIRING, STOPPED }

enum	TargetState { NO_TARGET, TARGET }

Public Member Functions
	ArActionColorFollow (const char name, ArACTS_1_2 acts, ArPTZ *camera, double speed=200, int width=160, int height=120)

virtual ArActionDesired *	fire (ArActionDesired currentDesired)

bool	getAcquire ()

bool	getBlob ()

int	getChannel ()

virtual ArActionDesired *	getDesired (void)

virtual const ArActionDesired *	getDesired (void) const

bool	getMovement ()

void	setAcquire (bool acquire)

void	setCamera (ArPTZ *camera)

bool	setChannel (int channel)

void	startMovement (void)

void	stopMovement (void)

Public Member Functions inherited from ArAction
virtual void	activate (void)
	Activate the action.

	ArAction (const char name, const char description="")
	Constructor.

virtual void	deactivate (void)
	Deactivate the action.

virtual const ArArg *	getArg (int number) const

virtual ArArg *	getArg (int number)
	Gets the numbered argument.

virtual const char *	getDescription (void) const
	Gets the long description of the action.

virtual const char *	getName (void) const
	Gets the name of the action.

virtual int	getNumArgs (void) const
	Find the number of arguments this action takes.

ArRobot *	getRobot () const
	Get the robot we are controlling, which was set by setRobot()

virtual bool	isActive (void) const
	Returns whether the action is active or not.

virtual void	log (bool verbose=true) const
	Log information about this action using ArLog.

virtual void	setRobot (ArRobot *robot)
	Sets the robot this action is driving. More...

virtual	~ArAction ()
	Desructor.

Protected Attributes
bool	killMovement

bool	myAcquire

ArACTS_1_2 *	myActs

ArPTZ *	myCamera

int	myChannel

ArActionDesired	myDesired

int	myHeight

ArTime	myLastSeen

LocationState	myLocation

int	myMaxTime

MoveState	myMove

double	mySpeed

TargetState	myState

int	myWidth

Protected Attributes inherited from ArAction
std::map< int, ArArg >	myArgumentMap

std::string	myDescription

bool	myIsActive

std::string	myName

int	myNumArgs

ArRobot *	myRobot
	The robot we are controlling, set by the action resolver using setRobot()

Additional Inherited Members
Static Public Member Functions inherited from ArAction
static bool	getDefaultActivationState (void)
	Gets the default activation state for all ArActions.

static void	setDefaultActivationState (bool defaultActivationState)
	Sets the default activation state for all ArActions.

Protected Member Functions inherited from ArAction
void	setNextArgument (ArArg const &arg)
	Sets the argument type for the next argument (must only be used in a constructor!)

Static Protected Attributes inherited from ArAction
static bool	ourDefaultActivationState = true

Detailed Description

ArActionColorFollow is an action that moves the robot toward the largest blob that appears in it's current field of view.

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

Public Types