Inheritance diagram for Configurator:

Collaboration diagram for Configurator:

Public Member Functions
	Configurator (Task _task)

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

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

int	getIteration ()

void	addIteration (int i=1)

void	assignDisturbanceToTask (const Disturbance &d, Task &t)

void	dummy_vertex (vertexDescriptor src)

simResult	simulate (Task t, b2World &w)
	Simulates this task, includes creating the robot object. More...

virtual float	remainingSimulationTime (const Task *const t=NULL)

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 )

virtual void	change_task ()
	changes tasks executing on the robot

void	update_graph (TransitionSystem &g, const TrackingResult &tr)

float	approximate_angle (float angle, Direction d, simResult::resultType outcome)
	Approximating angle to divisors of pi/2. More...

virtual void	adjust_goal_expectation ()
	Uses tracking information to adjust the position of the goal relative to the robot.

std::pair< bool, Direction >	getOppositeDirection (Direction d)

void	adjust_simulated_task (const vertexDescriptor &v, Task &t)
	If Task. More...

void	register_controller (Controller *controller)

Controller *	get_controller ()

void	register_tracker (Tracker *_tracker)
	registers and initialises the tracker to the goal

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)

void	register_goalChanger (GoalChanger *gc)

virtual Robot	makeRobot (b2World &world, const b2Transform &start)
	Makes the robot object in the world with the given start position and task. More...

bool	areInterfacesSetUp (Configurator *c=NULL)

void	assignBodyFeatures (Task &t, const BodyFeatures &bf)
	Assigns body features to the disturbance of a task (NOTE: affordance and validity of the disturbance will remain the same) More...

void	assignDimensions (Task &t, float halfLength, float halfWidth)
	Assigns dimensions to the disturbance of a task (NOTE: pose, affordance and validity of the disturbance will remain the same) More...

void	register_worldBuilder (WorldBuilder *wb)

b2Transform	get_start (const Task *const t)

Direction	get_direction (const Task *const t)

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	InvMul (const b2Transform &B, Task &task)
	Matrix multiply by transpose.

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

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

Protected Attributes
int	iteration =0

int	simulatedTasks =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

Task	controlGoal

CoordinateContainer	data2fp

TransitionSystem	transitionSystem =TransitionSystem(1)

WorldBuilder *	worldBuilder =new WorldBuilder()

vertexDescriptor	currentVertex =MOVING_VERTEX

edgeDescriptor	movingEdge =edgeDescriptor()

edgeDescriptor	currentEdge =movingEdge

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

◆ adjust_simulated_task()

void Configurator::adjust_simulated_task	(	const vertexDescriptor &	v,
		Task &	t
	)

If Task.

Parameters

t	corresponds to current Task, change its end criteria so that it is only simulated for the remainder of the end criteria
v	source vertex for the task
t	task reference

◆ approximate_angle()

float Configurator::approximate_angle	(	float	angle,
		Direction	d,
		simResult::resultType	outcome
	)

Approximating angle to divisors of pi/2.

Parameters

angle	the angle to approximate
d	the direction of the robot
outcome	the outcome of the last simulation

◆ assignBodyFeatures()

void Configurator::assignBodyFeatures	(	Task &	t,
		const BodyFeatures &	bf
	)

Assigns body features to the disturbance of a task (NOTE: affordance and validity of the disturbance will remain the same)

Parameters

t	the task
bf	body features

◆ assignDimensions()

void Configurator::assignDimensions	(	Task &	t,
		float	halfLength,
		float	halfWidth
	)

Assigns dimensions to the disturbance of a task (NOTE: pose, affordance and validity of the disturbance will remain the same)

Parameters

t	the task
halfLength
halfWidth

◆ estimate_current_vertex()

void Configurator::estimate_current_vertex ( )

Parameters

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

◆ getOppositeDirection()

std::pair< bool, Direction > Configurator::getOppositeDirection ( Direction d )

Returns: std::pair <bool, Direction>(opposite exists, opposite direction)

◆ init()

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

virtual

Initialises configurator.

Parameters

_task the new overarching goal

◆ makeRobot()

Robot Configurator::makeRobot	(	b2World &	world,
		const b2Transform &	start
	)

virtual

Makes the robot object in the world with the given start position and task.

Parameters

world
start
taskWithGoal

Returns: Robot

Reimplemented in DiscreteConfigurator, and AttentiveConfigurator.

◆ simulate()

simResult Configurator::simulate	(	Task	t,
		b2World &	w
	)

Simulates this task, includes creating the robot object.

Parameters

t	the task (should already be initialised)
w	the world (should already contain any objects aside from the robot)

Returns: simResult

◆ Spawner()

bool Configurator::Spawner ( )

virtual

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

Returns: true; false

◆ update_graph()

void Configurator::update_graph	(	TransitionSystem &	g,
		const TrackingResult &	tr
	)

@brieF updates the cognitive map and goal by applying a 2D transform, and sets current task Di to the observed disturbance in the tracking result

Parameters

g	the cognitive map
tr	the tracking result

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

src/configurator.h
src/configurator.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Member Function Documentation

◆ addVertex()

◆ adjust_simulated_task()

◆ approximate_angle()

◆ assignBodyFeatures()

◆ assignDimensions()

◆ estimate_current_vertex()

◆ getOppositeDirection()

◆ init()

◆ makeRobot()

◆ simulate()

◆ Spawner()

◆ update_graph()