BehAlign¶
- class mobrob_behcon.behaviours.beh_align.BehAlign(name, tolerance=0.1, rot_vel=20)[source]¶
The class BehAlign
This class is a child of the class Behaviour representing a behaviour which align the robot orthogonally to wall.
Attributes
Methods
__init__(name[, tolerance, rot_vel])constructor
add_desire(desire)Send desire to resolver.
error([code])Raise an error about the behaviour.
fire()The fire()-method, which is necessary in every Behaviour, will be called by resolver in every polling cycle.
set_current_beh_group(beh_group)Set current active behaviourgroup
set_percept_space(percept_space)Set the reference to percept_space
set_priority(priority)Set current priority of the behaviour, can be changed during runtime
set_resolver(resolver)Set the reference to resolver
success([code])Set the behaviour as successful ended.
Details
- add_desire(desire)¶
Send desire to resolver.
- Parameters
desire (Desire) – a desire to be added to the resolver
- error(code=0)¶
Raise an error about the behaviour. With the error code some more information about the error can be given to the behaviourgroup
- Parameters
code (int, optional) – error code, defaults to 0
- fire()[source]¶
The fire()-method, which is necessary in every Behaviour, will be called by resolver in every polling cycle.
- set_current_beh_group(beh_group)¶
Set current active behaviourgroup
- Parameters
beh_group (BehaviourGroup) – the currently active behaviour group
- set_percept_space(percept_space)¶
Set the reference to percept_space
- Parameters
percept_space (PerceptualSpace) – relevant percept_space object
- set_priority(priority)¶
Set current priority of the behaviour, can be changed during runtime
- Parameters
priority ([type]) – [description]