Task Class Reference

Collaboration diagram for Task:

Classes
struct	Action
class	Listener

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)
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 &)
EndCriteria	getEndCriteria ()
bool	endCriteria_met (Angle &, Distance &)
b2Transform	from_Di (const b2Transform *custom_start=NULL, Disturbance *d_obs=NULL)
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 ()
b2Transform	getStart ()
b2Transform &	getStartRef ()
Direction	get_direction ()
void	set_direction (Direction d)

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

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

get_disturbance_ptr()

Disturbance* Task::get_disturbance_ptr ( )

inline

Get a pointer to the disturbance.

Returns

Disturbance*

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

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

• src/task.h
• src/task.cpp