Class MoveToDynamicPoint
sm.SM --+
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MoveToDynamicPoint
Drive to a goal point in the frame defined by the odometry. Goal
points are part of the input, in contrast to
MoveToFixedPoint, which takes a single goal point at
initialization time.
Assume inputs are (util.Point, io.SensorInput) pairs
This is really a pure function machine; defining its own class,
though, so we can easily modify the parameters.
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Inherited from sm.SM:
check,
doTraceTasks,
done,
getStartState,
guaranteeName,
isDone,
printDebugInfo,
run,
start,
step,
transduce,
transduceF
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forwardGain = 1.0
Gain for driving forward
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rotationGain = 0.5
Gain for rotating
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maxVel = 0.5
Maximum velocity
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angleEps = 0.1
Tolerance for angles
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Inherited from sm.SM:
legalInputs,
name,
startState
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getNextValues(self,
state,
inp)
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Default version of this method. If a subclass only defines
getNextState, then we assume that the output of the machine
is the same as its next state.
- Overrides:
sm.SM.getNextValues
- (inherited documentation)
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