Chooses the next task reactively (Braitenberg controller) More...

Inheritance diagram for Reactive_Controller:

Collaboration diagram for Reactive_Controller:

Public Member Functions
virtual Task	next_task (Task currentTask, const Task &controlGoal, const TransitionSystem &g, std::vector< vertexDescriptor > &current_vertices, std::vector< vertexDescriptor > &plan)
	Virtual function used to choose the next task. More...

Public Member Functions inherited from Controller
Disturbance	get_disturbance ()
	Returns the disturbance being counteracted as in the cognitive map.

void	set_disturbance (const Disturbance &d)

b2Transform	disturbance_to_goal ()
	returns the distance between the disturbance_q and the goal this is used to maintain constant ratios during tracking More...

Additional Inherited Members
Static Public Member Functions inherited from Controller
static int	motor_step (Task::Action a, float distance=0.27)
	Assigns fixed duration (in amount of motor callbacks) More...

Protected Member Functions inherited from Controller
vertexDescriptor	get_current_vertex (const std::vector< vertexDescriptor > &cv)
	Get the current vertex. More...

Task	stopTask (const Task &controlGoal)

Protected Attributes inherited from Controller
Disturbance	disturbance_q

b2Transform	_D_to_goal =b2Transform_zero

Detailed Description

Chooses the next task reactively (Braitenberg controller)

Member Function Documentation

Task Reactive_Controller::next_task	(	Task	currentTask,
		const Task &	controlGoal,
		const TransitionSystem &	g,
		std::vector< vertexDescriptor > &	current_vertices,
		std::vector< vertexDescriptor > &	plan
	)

virtual

Virtual function used to choose the next task.

Parameters

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

Implements Controller.

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