task_controller.h

#ifndef TASK_CONTROLLER_H
#define TASK_CONTROLLER_H
 
#include "task.h"
#include "graphTools.h"
 
class Controller{
    protected:
    Disturbance disturbance_q; //disturbance being counteracted as in the cognitive map
    b2Transform _D_to_goal=b2Transform_zero;    
    vertexDescriptor get_current_vertex(const std::vector<vertexDescriptor>& cv){
        if (cv.size()>0){
            return cv[0];
        }
        return 0;
    }
    Task stopTask(const Task& controlGoal);
   
    public:
 
 
    Controller()=default;
 
    virtual Task next_task(Task currentTask, const Task & controlGoal, const TransitionSystem & g, std::vector <vertexDescriptor> & current_vertices, std::vector <vertexDescriptor> & plan)=0;
 
    static int motor_step(Task::Action a, float distance=0.27);
 
    Disturbance get_disturbance(){
        return disturbance_q;
    }
 
    void set_disturbance(const Disturbance & d){
        disturbance_q=d;
    }
 
    b2Transform disturbance_to_goal(){
        return _D_to_goal;
    }
 
};
 
class Wise_Controller: public Controller{
    public:
 
    Wise_Controller()=default;
 
    Task next_task(Task currentTask, const Task & controlGoal, const TransitionSystem & g, std::vector <vertexDescriptor> & current_vertices, std::vector<vertexDescriptor> & plan);
 
    int to_task_end(const TransitionSystem& g, std::vector<vertexDescriptor>& plan);
 
 
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);
 
};
 
class Reactive_Controller : public Controller{
    public:
 
    Reactive_Controller()=default;
 
    virtual Task next_task(Task currentTask, const Task & controlGoal, const TransitionSystem & g, std::vector <vertexDescriptor> & current_vertices, std::vector<vertexDescriptor> & plan);
 
 
};
 
class OpenLoopController:public Controller{
    Task next_task(Task currentTask, const Task & controlGoal, const TransitionSystem & g, std::vector <vertexDescriptor> & current_vertices, std::vector<vertexDescriptor> & plan);
};
#endif