本文整理汇总了C++中ArActionDesired::setRotVel方法的典型用法代码示例。如果您正苦于以下问题：C++ ArActionDesired::setRotVel方法的具体用法？C++ ArActionDesired::setRotVel怎么用？C++ ArActionDesired::setRotVel使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类ArActionDesired的用法示例。
在下文中一共展示了ArActionDesired::setRotVel方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: if
/*
This is the guts of the action.
*/
ArActionDesired *ActionTurn::fire(ArActionDesired currentDesired)
{
double leftRange, rightRange;
// reset the actionDesired (must be done)
myDesired.reset();
// if the sonar is null we can't do anything, so deactivate
if (mySonar == NULL)
{
deactivate();
return NULL;
}
// Get the left readings and right readings off of the sonar
leftRange = (mySonar->currentReadingPolar(0, 100) -
myRobot->getRobotRadius());
rightRange = (mySonar->currentReadingPolar(-100, 0) -
myRobot->getRobotRadius());
// if neither left nor right range is within the turn threshold,
// reset the turning variable and don't turn
if (leftRange > myTurnThreshold && rightRange > myTurnThreshold)
{
myTurning = 0;
myDesired.setRotVel(0);
}
// if we're already turning some direction, keep turning that direction
else if (myTurning)
{
myDesired.setRotVel(myTurnAmount * myTurning);
}
// if we're not turning already, but need to, and left is closer, turn right
// and set the turning variable so we turn the same direction for as long as
// we need to
else if (leftRange < rightRange)
{
myTurning = -1;
myDesired.setRotVel(myTurnAmount * myTurning);
}
// if we're not turning already, but need to, and right is closer, turn left
// and set the turning variable so we turn the same direction for as long as
// we need to
else
{
myTurning = 1;
myDesired.setRotVel(myTurnAmount * myTurning);
}
// return a pointer to the actionDesired, so resolver knows what to do
return &myDesired;
}