A closed hybrid control loop. It has an initial disturbance representing the continuous state and a direction representing (in 2D) the discrete control strategy. More...

#include <task.h>

Collaboration diagram for Task:

[legend]

Classes
struct	Action
	The motor instructions generated by the control strategy used in this tasks. More...

class	Listener
	Used to find collisions in the Box2D simulation. More...

Public Member Functions
Task::Action	getAction () const

AffordanceIndex	getAffIndex ()

Direction	H (Disturbance ob, Direction d, bool topDown=0)
	Agent transfer function H which generates a motor output (Action) in response to a disturbance. More...

void	setEndCriteria (const Angle &angle=SAFE_ANGLE, const Distance &distance=BOX2DRANGE)
	Sets the end criteria for this task (bounds of the Flow condition). Angle is a valid measurement for turning task but not for DEFAULT Tasks. More...

void	setEndCriteria (const Distance &distance)

void	setEndCriteria (const EndCriteria &ec)

EndedResult	checkEnded (b2Transform robotTransform=b2Transform_zero, Direction dir=UNDEFINED, bool relax=0, b2Body *robot=NULL, std::pair< bool, b2Transform > use_start=std::pair< bool, b2Transform >(1, b2Transform_zero))
	Check if this task has ended based on state information (default are info for the task which calls the method) More...

EndedResult	checkEnded (const State &n, Direction dir=UNDEFINED, bool relax=false, std::pair< bool, b2Transform > use_start=std::pair< bool, b2Transform >(1, b2Transform_zero))
	Check if a state represents the end of this task. More...

bool	checkEnded (const b2PolygonShape &box, const b2Transform &robot_pose=b2Transform_zero, Disturbance *dist_obs=NULL)
	Uses a virtual sensor (attention window) to determine whether the task has ended or not. More...

	Task (Direction d)

	Task (Disturbance ob, Direction d, b2Transform _start=b2Transform(b2Vec2(0.0, 0.0), b2Rot(0.0)), bool topDown=0)

simResult	bumping_that (b2World &_world, int iteration, b2Body *, float remaining=SIM_DURATION)
	Executes this task in a Box2D simulation. More...

EndCriteria	getEndCriteria (const Disturbance &d)
	Returns the endCriteria for this Task if it were to counteract Disturbance. More...

EndCriteria &	getEndCriteria ()
	Returns a REFERENCE to the endCriteria.

bool	endCriteria_met (Angle &a, Distance &d)
	Returns true if the endCriteria is met based on. More...

b2Transform	from_Di (const b2Transform custom_start=NULL, Disturbance d_obs=NULL)
	Returns a b2Transform expressing the pose of the disturbance relative to the robot in the robot's local coordinates. More...

void	set_change (bool b)

bool	get_change ()

bool	is_over ()
	If task has finished executing. More...

Disturbance *	get_disturbance_ptr ()
	Get a pointer to the disturbance. More...

const Disturbance &	get_disturbance () const

void	setMotorStep (int i)

int	getMotorStep () const

b2Transform	getStart ()

b2Transform &	getStartRef ()

Direction	get_direction ()

void	set_direction (Direction d)

Protected Member Functions
bool	isTurnFinished (const b2Transform &robotTransform, Direction dir)

bool	isMoving ()

Protected Attributes
char	planFile [250]

bool	debug_k =false

bool	change =0

b2Transform	start =b2Transform_zero

EndCriteria	endCriteria

Direction	direction = DEFAULT

int	motorStep =0

AffordanceIndex	affordance =NONE

Action	action

Disturbance	disturbance

Friends
class	Configurator

Detailed Description

A closed hybrid control loop. It has an initial disturbance representing the continuous state and a direction representing (in 2D) the discrete control strategy.

Member Function Documentation

◆ bumping_that()

simResult Task::bumping_that	(	b2World &	_world,
		int	iteration,
		b2Body *	robot,
		float	remaining = `SIM_DURATION`
	)

Executes this task in a Box2D simulation.

Parameters

_world	box2d world
iteration	configurator iteration (for logging)
remaining	(simulation duration in seconds)

Returns: simResult

◆ checkEnded() [1/3]

EndedResult Task::checkEnded	(	b2Transform	robotTransform = `b2Transform_zero`,
		Direction	dir = `UNDEFINED`,
		bool	relax = `0`,
		b2Body *	robot = `NULL`,
		std::pair< bool, b2Transform >	use_start = `std::pair <bool,b2Transform>(1, b2Transform_zero)`
	)

Check if this task has ended based on state information (default are info for the task which calls the method)

Parameters

robotTransform	the robot's pose to evaluate
dir	the direction of the task being carried out
relax	apply a larger threshold to check whehter a goal was reached
robot	robot box2d body
use_start	use a custom start for the task

Returns: EndedResult

◆ checkEnded() [2/3]

bool Task::checkEnded	(	const b2PolygonShape &	box,
		const b2Transform &	robot_pose = `b2Transform_zero`,
		Disturbance *	dist_obs = `NULL`
	)

Uses a virtual sensor (attention window) to determine whether the task has ended or not.

Parameters

box	the sensor
robot_pose
dist_obs	pointer to the observed disturbance (the disturbance as it was at the beginning of the task, or as it was expected)

Returns: true; false

◆ checkEnded() [3/3]

EndedResult Task::checkEnded	(	const State &	n,
		Direction	dir = `UNDEFINED`,
		bool	relax = `false`,
		std::pair< bool, b2Transform >	use_start = `std::pair <bool,b2Transform>(1, b2Transform_zero)`
	)

Check if a state represents the end of this task.

Parameters

n	the state
dir	the direction of the task being carried out
relax	apply a larger threshold to check whehter a goal was reached
use_start	use a custom start for the task

Returns: EndedResult

◆ endCriteria_met()

bool Task::endCriteria_met	(	Angle &	a,
		Distance &	d
	)

Returns true if the endCriteria is met based on.

Parameters

a	angle from the disturbance
d	distance from the disturbance

◆ from_Di()

b2Transform Task::from_Di	(	const b2Transform *	custom_start = `NULL`,
		Disturbance *	d_obs = `NULL`
	)

Returns a b2Transform expressing the pose of the disturbance relative to the robot in the robot's local coordinates.

Parameters

custom_start	global coordinates of the task start, if null defaults to the origin
d_obs	a disturbance different from the Di for this task. If null defaults to Di

Returns: b2Transform

◆ get_disturbance_ptr()

Disturbance* Task::get_disturbance_ptr ( )

inline

Get a pointer to the disturbance.

Returns: Disturbance*

◆ getEndCriteria()

EndCriteria Task::getEndCriteria ( const Disturbance & d )

Returns the endCriteria for this Task if it were to counteract Disturbance.

Parameters

d

◆ H()

Direction Task::H	(	Disturbance	ob,
		Direction	d,
		bool	topDown = `0`
	)

Agent transfer function H which generates a motor output (Action) in response to a disturbance.

Parameters

ob	the disturbance
d	top-down instruction on how to generate the Action. DEFAULT with no top down control generates a reflex
topDown	whether the input direction should be used as is (true) or to generate a reflex (false)

Returns: Direction

NB: only generates default turns if absolute angle of the disturbance is larger than .1rad

◆ is_over()

bool Task::is_over ( )

inline

If task has finished executing.

Returns: true if step==0 or if manually set to change; false

◆ setEndCriteria()

void Task::setEndCriteria	(	const Angle &	angle = `SAFE_ANGLE`,
		const Distance &	distance = `BOX2DRANGE`
	)

Sets the end criteria for this task (bounds of the Flow condition). Angle is a valid measurement for turning task but not for DEFAULT Tasks.

Parameters

angle	manually input angle
distance	manually input distance

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

src/task.h
src/task.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ bumping_that()

◆ checkEnded() [1/3]

◆ checkEnded() [2/3]

◆ checkEnded() [3/3]

◆ endCriteria_met()

◆ from_Di()

◆ get_disturbance_ptr()

◆ getEndCriteria()

◆ H()

◆ is_over()

◆ setEndCriteria()