Callback interface class for implementing custom strategies to switch between tasks to be executed.
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#include <task_controller.h>
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| virtual Task | next_task (Task currentTask, const Task &controlGoal, const TransitionSystem &g, std::vector< vertexDescriptor > ¤t_vertices, std::vector< vertexDescriptor > &plan)=0 |
| | Virtual function used to choose the next task. More...
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Disturbance | get_disturbance () |
| | Returns the disturbance being counteracted as in the cognitive map.
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void | set_disturbance (const Disturbance &d) |
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| b2Transform | disturbance_to_goal () |
| | returns the distance between the disturbance_q and the goal this is used to maintain constant ratios during tracking More...
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Disturbance | disturbance_q |
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b2Transform | _D_to_goal =b2Transform_zero |
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Callback interface class for implementing custom strategies to switch between tasks to be executed.
◆ disturbance_to_goal()
| b2Transform Controller::disturbance_to_goal |
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inline |
returns the distance between the disturbance_q and the goal this is used to maintain constant ratios during tracking
- Returns
- b2Transform
◆ get_current_vertex()
| vertexDescriptor Controller::get_current_vertex |
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const std::vector< vertexDescriptor > & |
cv | ) |
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inlineprotected |
Get the current vertex.
- Parameters
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| cv | vector of vertices making up the current task |
◆ motor_step()
| int Controller::motor_step |
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Task::Action |
a, |
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float |
distance = 0.27 |
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static |
Assigns fixed duration (in amount of motor callbacks)
- Parameters
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| a | the action of the task |
| distance | the distance travelled in a task, default is robot length |
- Returns
- int
◆ next_task()
| virtual Task Controller::next_task |
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Task |
currentTask, |
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const Task & |
controlGoal, |
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const TransitionSystem & |
g, |
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std::vector< vertexDescriptor > & |
current_vertices, |
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std::vector< vertexDescriptor > & |
plan |
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pure virtual |
Virtual function used to choose the next task.
- Parameters
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| currentTask | the current task |
| controlGoal | the overarching goal task |
| g | the cognitive map |
| current_vertices | a container with the cognitive map vertices representing the current Task (more than one if Task has been split) |
| plan | the plan |
Implemented in Reactive_Controller, and Wise_Controller.
The documentation for this class was generated from the following files:
