public class RunToPosition extends SingleComplexBehavior
Constructor and Description |
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RunToPosition(IThoughtModel thoughtModel,
java.util.Map<java.lang.String,IBehavior> behaviors)
Constructor
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Modifier and Type | Method and Description |
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IBehavior |
decideNextBasicBehavior()
Decide for a single next behavior.
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void |
setPosition(Pose2D newPose,
double minSpeedForward,
double minSpeedSideward,
double maxSpeedForward,
boolean passiveMovement)
Set new target position
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abort, getCurrentBehavior, getCurrentBehaviorchain, getRootBehavior, init, isBehaviorInExecution, isFinished, onLeavingBehavior, perform, switchFrom, toString
getConsecutivePerforms, getIntensity, getName, getPerforms, getSuccessfulPerforms, getUnsuccessfulPerforms, reload, setIntensity, setName, stayIn
public RunToPosition(IThoughtModel thoughtModel, java.util.Map<java.lang.String,IBehavior> behaviors)
thoughtModel
- Reference to the thought model objectbehaviors
- List of applicable behaviorspublic IBehavior decideNextBasicBehavior()
SingleComplexBehavior
public void setPosition(Pose2D newPose, double minSpeedForward, double minSpeedSideward, double maxSpeedForward, boolean passiveMovement)
newPosition
- New target Position, null, if current position should
be usedrotation
- Target rotation (radians)minSpeedForward
- the minimum speed for forward directionminSpeedSideward
- the minimum speed for sideward directionpassiveMovement
- true if movement to home position