Created
March 29, 2012 21:37
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ActionDemo
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| Object searchForBuoy() | |
| { | |
| double originalOrientation = currentPosition.orientation(); | |
| // Look for the buoy to the right | |
| ActionToken rotationRight = rotateTo(originalOrientation - pi/2); | |
| while(!rotationRight.complete()) | |
| { | |
| ObjectVector objects = detectedObjects(); | |
| if(objects.contains("buoy")) | |
| { | |
| rotationRight.cancel(); | |
| return objects["buoy"]; | |
| } | |
| } | |
| // Look for the buoy to the left | |
| ActionToken rotationLeft = rotateTo(originalOrientation + pi/2); | |
| while(!rotationLeft.complete()) | |
| { | |
| ObjectVector objects = detectedObjects(); | |
| if(objects.contains("buoy")) | |
| { | |
| rotationLeft.cancel(); | |
| return objects["buoy"]; | |
| } | |
| } | |
| // Rotate to the original orientation. This returns an ActionToken, which is immediately destructed, causing it to block | |
| // until the action is complete. | |
| rotateTo(originalOrientation); | |
| return NoObject; | |
| } | |
| int main() | |
| { | |
| Object buoy = searchForBuoy(); | |
| if(buoy != NoObject) | |
| { | |
| moveTo(buoy); | |
| } | |
| else | |
| { | |
| // Oh crap... Let's move somewhere else and try again... | |
| } | |
| } |
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