Module move :: Class MoveToFixedPoint

Class MoveToFixedPoint

sm.SM --+
        |
       MoveToFixedPoint

State machine representing robot behavior that drives to a specified point. Inputs are instances of io.SensorInput; outputs are instances of io.Action. Robot first rotates toward goal, then moves straight. It will correct its rotation if necessary.

Instance Methods

__init__(self, goalPoint, maxVel=maxVel)

getNextValues(self, state, inp)
Default version of this method.

done(self, state)
By default, machines don't terminate

Inherited from sm.SM: check, doTraceTasks, getStartState, guaranteeName, isDone, printDebugInfo, run, start, step, transduce, transduceF

Class Variables
	forwardGain = `1.0` Gain for driving forward
	rotationGain = `1.0` Gain for rotating
	angleEps = `0.05` Tolerance for angles
	distEps = `0.05` Tolerance for distances
	maxVel = `0.5` Maximum velocity
	startState = `False` By default, startState is none
Inherited from `sm.SM`: `legalInputs`, `name`

Instance Variables
Inherited from `sm.SM`: `state`

Method Details

getNextValues(self, state, inp)

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)

done(self, state)

By default, machines don't terminate

Overrides: sm.SM.done: (inherited documentation)