lobot::TurnArbiter Class Reference

A DAMN turn arbiter for controlling Robolocust's steering. More...

#include <Robots/LoBot/control/LoTurnArbiter.H>

Inheritance diagram for lobot::TurnArbiter:

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Collaboration diagram for lobot::TurnArbiter:

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List of all members.

Classes
class	Params
class	Vote
Public Member Functions
	~TurnArbiter ()
	Turn arbiter clean-up.
Static Public Member Functions
static int	turn_max ()
static int	turn_step ()
Friends
class	singleton< TurnArbiter >

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Detailed Description

A DAMN turn arbiter for controlling Robolocust's steering.

This class implements a DAMN turn arbiter that acts as the interface between the Robolocust behaviours and the robot's steering controls. The arbiter supports a certain set of turns (hard right, medium right, soft right, straight ahead, etc.). Each behaviour that wants to influence the steering direction will have to vote for or against each of these possible steering commands. The turn arbiter will then tally all the votes using a weighted sum and smoothing procedure and issue the motor control command that ends up with the maximum votes.

Definition at line 78 of file LoTurnArbiter.H.

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Constructor & Destructor Documentation

lobot::TurnArbiter::~TurnArbiter

(

)

Turn arbiter clean-up.

Definition at line 432 of file LoTurnArbiter.C.

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Member Function Documentation

static int lobot::TurnArbiter::turn_max

(

)

[inline, static]

Helpers to return some turn arbiter parameters used by other modules.

Definition at line 352 of file LoTurnArbiter.H.

Referenced by lobot::TurnArbiter::Vote::Vote().

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

• src/Robots/LoBot/control/LoTurnArbiter.H
• src/Robots/LoBot/control/LoTurnArbiter.C