PursuitAgent Class Reference

#include <EGraphPlayerIF.h>

List of all members.

Public Member Functions
	PursuitAgent (Identity ID, PlayerClient *client, Position2dProxy *posProxy, LaserProxy *laserProxy)
	~PursuitAgent ()
void	clientRead ()
Identity	getID ()
BehaviorTypes	getBehavior ()
Grid	getLSR ()
LRR	getLRR ()
Frontier	getFrontier ()
int	getNumFrontierSegments ()
int	getTotalFrontierCells ()
void	setFrontier (Frontier frontier, bool bForce=false)
Path	getPath ()
Pose	getPose ()
Position	getPosition ()
Pose	getViewpoint ()
Scan	getScan ()
ExplorationParams	getExplParams ()
double	getSensorRange ()
double	getCoverRange ()
double	getCoverFieldOfView ()
double	getWidth ()
int	getLSRSize ()
vector< Cell * >	getRaster (DubInt iCell1, DubInt iCell2)
double	getLSRResolution ()
Pose	getLSRPose ()
LSRBound	getLSRBound ()
Cell *	getCell (DubInt indices)
Cell *	getCell (Position pos)
Cell *	getCell (int i)
Position	getCellPosition (DubInt indices)
int	getNumFollowers ()
Position	getFollowerPosition ()
void	setToExpand (Path path, bool bClearPrevFrontier, AgentVector neighbors, bool bDoExpand=true)
void	setToGuard (AgentVector neighbors)
void	setToFollow (AgentVector neighbors)
void	setToWander (AgentVector neighbors)
void	setToNoBehavior ()
void	goTo (Pose pose)
void	addFollower (PursuitAgent *newFollower, bool bMove=true)
void	doCurrentBehavior (AgentVector neighbors)
bool	isLeader ()
bool	isReady ()
bool	isWaitingForAnyAgent ()
bool	isWaitingForAgent (int iID)
void	clearWaitingForAgent ()
bool	isTraveling ()
void	drawBoundary (Graphics2dProxy &gp)
void	drawFrontier (Graphics2dProxy &gp)
void	drawLSR (Graphics2dProxy &gp, bool bOnlyLSR)
bool	canDetectTargetPosition (Position targetPos)
Protected Member Functions
void	Expand (AgentVector neighbors)
void	Guard (AgentVector neighbors)
void	processFrontier (AgentVector neighbors)
void	Wander (AgentVector neighbors)
void	recordLSR ()
bool	isCellCovered (Pose viewPoint, DubInt iCell, bool bSilent=true)
Pose	pickBestViewPoint (int *iNumViewPoints, bool bDebugDisplay=false)
void	updateFrontier (AgentVector neighbors, bool bDebugDisplay=false)
void	getNeighborFrontiers (AgentVector neighbors, Pose &curPose, vector< Frontier > &ourNeighborFrontiers, vector< Frontier > &updatedNeighborFrontiers, vector< DubInt > &neighborObstacleEndpoints, vector< DubInt > &neighborObstacleBeginpoints)
void	classifyOurFrontier (AgentVector neighbors, Pose &curPose, vector< Frontier > &ourNeighborFrontiers, vector< DubInt > &neighborObstacleEndpoints, vector< DubInt > &neighborObstacleBeginpoints, bool bDebugDisplay)
void	updateNeighborFrontiers (AgentVector neighbors, Pose &curPose, vector< Frontier > &updatedNeighborFrontiers)
void	postProcessOurFrontier (vector< Frontier > &ourNeighborFrontiers, Pose &curPose, bool bDebugDisplay)
Protected Attributes
Identity	m_iID
PlayerClient *	m_pClient
Position2dProxy *	m_pPosProxy
LaserProxy *	m_pLaserProxy
BehaviorTypes	m_eBehavior
Frontier	m_frontier
Frontier	m_freeArcs
Frontier	m_prevFrontier
Grid	m_LSR
Grid	m_prevLSR
bool	m_bFrontierInitialized
Path	m_path
PursuitAgent *	m_pWaitForAgent
AgentVector	m_followers

---

Constructor & Destructor Documentation

PursuitAgent::PursuitAgent	(	Identity	ID,
		PlayerClient *	client,
		Position2dProxy *	posProxy,
		LaserProxy *	laserProxy
	)

PursuitAgent::~PursuitAgent

(

)

---

Member Function Documentation

void PursuitAgent::Expand

(

AgentVector

neighbors

)

[protected]

void PursuitAgent::Guard

(

AgentVector

neighbors

)

[protected]

void PursuitAgent::processFrontier

(

AgentVector

neighbors

)

[protected]

void PursuitAgent::Wander

(

AgentVector

neighbors

)

[protected]

void PursuitAgent::recordLSR

(

)

[protected]

bool PursuitAgent::isCellCovered	(	Pose	viewPoint,
		DubInt	iCell,
		bool	bSilent = true
	)			[protected]

Pose PursuitAgent::pickBestViewPoint	(	int *	iNumViewPoints,
		bool	bDebugDisplay = false
	)			[protected]

void PursuitAgent::updateFrontier	(	AgentVector	neighbors,
		bool	bDebugDisplay = false
	)			[protected]

void PursuitAgent::getNeighborFrontiers	(	AgentVector	neighbors,
		Pose &	curPose,
		vector< Frontier > &	ourNeighborFrontiers,
		vector< Frontier > &	updatedNeighborFrontiers,
		vector< DubInt > &	neighborObstacleEndpoints,
		vector< DubInt > &	neighborObstacleBeginpoints
	)			[protected]

void PursuitAgent::classifyOurFrontier	(	AgentVector	neighbors,
		Pose &	curPose,
		vector< Frontier > &	ourNeighborFrontiers,
		vector< DubInt > &	neighborObstacleEndpoints,
		vector< DubInt > &	neighborObstacleBeginpoints,
		bool	bDebugDisplay
	)			[protected]

void PursuitAgent::updateNeighborFrontiers	(	AgentVector	neighbors,
		Pose &	curPose,
		vector< Frontier > &	updatedNeighborFrontiers
	)			[protected]

void PursuitAgent::postProcessOurFrontier	(	vector< Frontier > &	ourNeighborFrontiers,
		Pose &	curPose,
		bool	bDebugDisplay
	)			[protected]

void PursuitAgent::clientRead

(

)

Identity PursuitAgent::getID

(

)

[inline]

BehaviorTypes PursuitAgent::getBehavior

(

)

[inline]

Grid PursuitAgent::getLSR

(

)

[inline]

LRR PursuitAgent::getLRR

(

)

[inline]

Frontier PursuitAgent::getFrontier

(

)

[inline]

int PursuitAgent::getNumFrontierSegments

(

)

[inline]

int PursuitAgent::getTotalFrontierCells

(

)

void PursuitAgent::setFrontier	(	Frontier	frontier,
		bool	bForce = false
	)

Path PursuitAgent::getPath

(

)

[inline]

Pose PursuitAgent::getPose

(

void

)

[inline]

Position PursuitAgent::getPosition

(

void

)

[inline]

Pose PursuitAgent::getViewpoint

(

)

Scan PursuitAgent::getScan

(

)

ExplorationParams PursuitAgent::getExplParams

(

)

double PursuitAgent::getSensorRange

(

)

[inline]

double PursuitAgent::getCoverRange

(

)

double PursuitAgent::getCoverFieldOfView

(

)

double PursuitAgent::getWidth

(

)

[inline]

int PursuitAgent::getLSRSize

(

)

[inline]

vector< Cell * > PursuitAgent::getRaster	(	DubInt	iCell1,
		DubInt	iCell2
	)

double PursuitAgent::getLSRResolution

(

)

[inline]

Pose PursuitAgent::getLSRPose

(

)

LSRBound PursuitAgent::getLSRBound

(

)

[inline]

Cell* PursuitAgent::getCell

(

DubInt

indices

)

[inline]

Cell* PursuitAgent::getCell

(

Position

pos

)

[inline]

Cell* PursuitAgent::getCell

(

int

i

)

[inline]

Position PursuitAgent::getCellPosition

(

DubInt

indices

)

[inline]

int PursuitAgent::getNumFollowers

(

)

[inline]

Position PursuitAgent::getFollowerPosition

(

)

void PursuitAgent::setToExpand	(	Path	path,
		bool	bClearPrevFrontier,
		AgentVector	neighbors,
		bool	bDoExpand = true
	)

void PursuitAgent::setToGuard

(

AgentVector

neighbors

)

void PursuitAgent::setToFollow

(

AgentVector

neighbors

)

void PursuitAgent::setToWander

(

AgentVector

neighbors

)

void PursuitAgent::setToNoBehavior

(

)

void PursuitAgent::goTo

(

Pose

pose

)

void PursuitAgent::addFollower	(	PursuitAgent *	newFollower,
		bool	bMove = true
	)

void PursuitAgent::doCurrentBehavior

(

AgentVector

neighbors

)

bool PursuitAgent::isLeader

(

)

bool PursuitAgent::isReady

(

)

bool PursuitAgent::isWaitingForAnyAgent

(

)

bool PursuitAgent::isWaitingForAgent

(

int

iID

)

void PursuitAgent::clearWaitingForAgent

(

)

bool PursuitAgent::isTraveling

(

)

void PursuitAgent::drawBoundary

(

Graphics2dProxy &

gp

)

void PursuitAgent::drawFrontier

(

Graphics2dProxy &

gp

)

void PursuitAgent::drawLSR	(	Graphics2dProxy &	gp,
		bool	bOnlyLSR
	)

bool PursuitAgent::canDetectTargetPosition

(

Position

targetPos

)

---

Member Data Documentation

Identity PursuitAgent::m_iID [protected]

PlayerClient* PursuitAgent::m_pClient [protected]

Position2dProxy* PursuitAgent::m_pPosProxy [protected]

LaserProxy* PursuitAgent::m_pLaserProxy [protected]

BehaviorTypes PursuitAgent::m_eBehavior [protected]

Frontier PursuitAgent::m_frontier [protected]

Frontier PursuitAgent::m_freeArcs [protected]

Frontier PursuitAgent::m_prevFrontier [protected]

Grid PursuitAgent::m_LSR [protected]

Grid PursuitAgent::m_prevLSR [protected]

bool PursuitAgent::m_bFrontierInitialized [protected]

Path PursuitAgent::m_path [protected]

PursuitAgent* PursuitAgent::m_pWaitForAgent [protected]

AgentVector PursuitAgent::m_followers [protected]

---

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

• main/custom/egraph/EGraph/EGraphPlayerIF.h