Wise_Controller Class Reference

Chooses tasks based on a plan. More...

#include <task_controller.h>

Inheritance diagram for Wise_Controller:

Collaboration diagram for Wise_Controller:

Public Member Functions
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...
int	to_task_end (const TransitionSystem &g, std::vector< vertexDescriptor > &plan)
	returns last vertex of the task starting at plan[0] More...
Task	task_to_execute (const std::vector< vertexDescriptor > &p, const TransitionSystem &g, int end_it, const Task &controlGoal, Task &currentTask, const std::vector< vertexDescriptor > &current_vertices)
	Creates a new task by interpreting the states in a plan. Tasks split in several states are treated like one task, and Tasks terminating in collisions are morphed into tasks aimed at reaching a certain distance from an obstacle. 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 tasks based on a plan.

Member Function Documentation

next_task()

Task Wise_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.

task_to_execute()

Task Wise_Controller::task_to_execute	(	const std::vector< vertexDescriptor > &	p,
		const TransitionSystem &	g,
		int	end_it,
		const Task &	controlGoal,
		Task &	currentTask,
		const std::vector< vertexDescriptor > &	current_vertices
	)

Creates a new task by interpreting the states in a plan. Tasks split in several states are treated like one task, and Tasks terminating in collisions are morphed into tasks aimed at reaching a certain distance from an obstacle.

Parameters

p
g
end_it
controlGoal
currentTask
current_vertices

Returns

Task

to_task_end()

int Wise_Controller::to_task_end	(	const TransitionSystem &	g,
		std::vector< vertexDescriptor > &	plan
	)

returns last vertex of the task starting at plan[0]

Parameters

g	the cognitive map
plan	the plan

Returns

int iterator to the next vertex not belonging to the task to be executed immediately

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

• src/task_controller.h
• src/task_controller.cpp