Inheritance diagram for Configurator:

Collaboration diagram for Configurator:

Public Member Functions
	Configurator (Task _task)

void	init (Task _task=Task())
	Initialises configurator. More...

bool	Spawner ()
	Calls functions to explore the state space and extract a plan. More...

int	getIteration ()

void	addIteration (int i=1)

void	dummy_vertex (vertexDescriptor src)

simResult	simulate (Task, b2World &)

void	estimate_current_vertex ()

void	printPlan (std::vector< vertexDescriptor > *p=NULL)

std::pair< edgeDescriptor, bool >	addVertex (const vertexDescriptor &src, vertexDescriptor &v1, Edge edge=Edge(), bool topDown=0)
	Add state to the cognitive map and set next state Task direction and options. More...

virtual void	explore_plan (b2World &)=0
	Explores and plan.

void	start ()

void	stop ()

void	registerInterface (LIDAR_In , Motor_Out )

void	change_task ()
	changes tasks to execute on

void	update_graph (TransitionSystem &g, const b2Transform &_deltaPose)

float	approximate_angle (const float &, const Direction &, const simResult::resultType &)

void	adjust_goal_expectation ()

void	register_controller (Controller *controller)

Controller *	get_controller ()

void	register_tracker (Tracker *_tracker)

Tracker *	get_tracker () const

Motor_Out *	get_motor_interface ()

LIDAR_In *	get_lidar_interface ()

void	register_planner (Planner *_p)

void	setSimulationStep (float f)

void	register_logger (Logger *l)

Static Public Member Functions
static void	run (Configurator *)
	Spawns tasks, creates plans, tracks task and controls real-world task switching option to run in thread. Thread can be used if planning time might exceed 200ms (LIDAR sampling rate) but doesn't have to be.

static void	MulT (const b2Transform &B, Task &task)
	Matrix multiply by transpose.

static void	Mul (const b2Transform &B, Task &task)
	Matrix multiplication.

Protected Attributes
int	iteration =0

Task	currentTask

Controller *	task_controller =NULL

Tracker *	tracker =NULL

LIDAR_In *	ci =NULL

Motor_Out *	control =NULL

Planner *	planner =NULL

Logger *	logger =NULL

bool	running =0

std::thread *	LIDAR_thread =NULL

float	simulationStep =2*std::max(ROBOT_HALFLENGTH, ROBOT_HALFWIDTH)

std::chrono::high_resolution_clock::time_point	previousTimeScan

GoalChanger *	goal_changer =NULL

std::vector< vertexDescriptor >	m_plan

std::vector< vertexDescriptor >	current_vertices

int	bodies =0

Task	controlGoal

CoordinateContainer	data2fp

TransitionSystem	transitionSystem =TransitionSystem(1)

WorldBuilder	worldBuilder

vertexDescriptor	currentVertex =MOVING_VERTEX

edgeDescriptor	movingEdge =edgeDescriptor()

edgeDescriptor	currentEdge =edgeDescriptor()

Member Function Documentation

◆ addVertex()

std::pair< edgeDescriptor, bool > Configurator::addVertex	(	const vertexDescriptor &	src,
		vertexDescriptor &	v1,
		Edge	edge = `Edge()`,
		bool	topDown = `0`
	)

Add state to the cognitive map and set next state Task direction and options.

Parameters

src	source state
v1	new state
edge	connecting edge between src->v1
topDown	flag determining whether state v1 has been simulated already or not

void Configurator::estimate_current_vertex ( )

Parameters

g	the cognitive map
t	the task which is currently being executed on the robot

void Configurator::init ( Task _task = Task() )

Initialises configurator.

Parameters

_task the new overarching goal

bool Configurator::Spawner ( )

Calls functions to explore the state space and extract a plan.

void Configurator::update_graph	(	TransitionSystem &	g,
		const b2Transform &	_deltaPose
	)

Parameters

g	the cognitive map
_deltaPose	the transform to apply

The documentation for this class was generated from the following files: