Offliner Task
[Tasks]

Task for offline execution of all other tasks. More...

Classes
class	MipResources::MRControlInput
	This class represents the control input of a mobile unycycle robot. More...
class	MipResources::MRControlInputs
	This class represents a vector of control inputs of a mobile unycycle robot. More...
class	MipResources::OfflineMR
class	MipResources::dataUav
class	MipResources::sonarUav
	Class to represent all measurements for a UAV, associated with time. More...
class	MipResources::attitudeUav
	Class to represent attitude of an UAV (roll and pitch are mandatory, yaw is optional), associated with time. More...
class	MipResources::velocityUav
	Class to represent the velocity of an UAV in a 3D environment, associated with time. More...
class	MipResources::OfflineUav
	Class to get all data from an offline UAV quadrotor. More...
class	MipTasks::OfflinerTaskOptions
	Examples of the use of the Options class for a task. More...
class	MipTasks::OfflinerTaskSharedMem
	Example of the use of the shared memory for a task. More...
class	MipTasks::OfflinerTask
	Task for the offline execution of other tasks. More...
Typedefs
typedef struct vector < Position2DArma >	MipResources::camObs
Enumerations
enum	MipTasks::OfflineJobs {   MipTasks::OJ_PARTICLE_MUT_LOC, MipTasks::OJ_FAST_SLAM_PMLNMR, MipTasks::OJ_PHDFILTER_STAGE1, MipTasks::OJ_PHDFILTER_STAGE2,   MipTasks::OJ_PHDFILTER_QUAD, MipTasks::OFFLINE_JOBS_TYPES_NUM }
	Types of jobs that can be performed offline. More...
enum	MipTasks::OfflinerFunctionalities {   MipTasks::OFF_SHME_MYPF, MipTasks::OFF_SHME_MYCO, MipTasks::OFF_SHME_MYCI, MipTasks::OFF_SHME_MYGM,   MipTasks::OFF_COMM_OTPOSE, MipTasks::OFF_COMM_OTPF, MipTasks::OFF_COMM_OTCO, MipTasks::OFF_COMM_OTCI,   MipTasks::OFF_COMM_OTGM, MipTasks::OFF_EMU_UAV, MipTasks::OFFLINER_FUNCTIONALITIES_NUM }
	Enumerates all different functionalities of the task. More...
enum	MipTasks::OfflinerTaskStates { MipTasks::OFFLINER_TASK_FIRST_RUN, MipTasks::OFFLINER_TASK_NORMAL_RUN, MipTasks::OFFLINER_TASK_STATES_NUM }
	Enumerates the states of the OfflinerTask. More...
Variables
static const char *	MipTasks::OfflineJobsNames [OFFLINE_JOBS_TYPES_NUM]
static const bool	MipTasks::OfflinerFunctionalitiesTable [OFFLINE_JOBS_TYPES_NUM][OFFLINER_FUNCTIONALITIES_NUM]
	Expresses wether or not the functionalities of the task must be executed for different jobs.
static const char *	MipTasks::OfflinerTaskStatesNames [OFFLINER_TASK_STATES_NUM]

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Detailed Description

Task for offline execution of all other tasks.

To run another task offline, this task can be used to fill the shared memory with the correct information that the other task assume to be given

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Typedef Documentation

typedef struct vector< Position2DArma > MipResources::camObs

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Enumeration Type Documentation

enum MipTasks::OfflineJobs

Types of jobs that can be performed offline.

Author:

Paolo Stegagno

Enumerator:

OJ_PARTICLE_MUT_LOC	particle mutloc job
OJ_FAST_SLAM_PMLNMR	fast slam mutloc job
OJ_PHDFILTER_STAGE1	phdfilter task job - stage 1
OJ_PHDFILTER_STAGE2	phdfilter task job - stage 2
OJ_PHDFILTER_QUAD	phdfilter task job - stage 2
OFFLINE_JOBS_TYPES_NUM

enum MipTasks::OfflinerFunctionalities

Enumerates all different functionalities of the task.

Enumerator:

OFF_SHME_MYPF	put my posifeatures in the shared memory
OFF_SHME_MYCO	put my camera observation in the shared memory
OFF_SHME_MYCI	put my control input in the shared memory
OFF_SHME_MYGM	put my Gaussian mixture in the shared memory
OFF_COMM_OTPOSE	communicate other pose
OFF_COMM_OTPF	communicate other posifeatures
OFF_COMM_OTCO	communicate other camera observation
OFF_COMM_OTCI	communicate other control input
OFF_COMM_OTGM	communicate other gaussian mixture
OFF_EMU_UAV	Emulate an uav with relative position measurements, given a rototranslation matrix in option.
OFFLINER_FUNCTIONALITIES_NUM

enum MipTasks::OfflinerTaskStates

Enumerates the states of the OfflinerTask.

Author:

Paolo Stegagno

Enumerator:

OFFLINER_TASK_FIRST_RUN
OFFLINER_TASK_NORMAL_RUN
OFFLINER_TASK_STATES_NUM

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Variable Documentation

const char* MipTasks::OfflineJobsNames[OFFLINE_JOBS_TYPES_NUM] [static]

Initial value:

 {
  "ParticleMutLoc",
  "FastSLAMMutLoc",
  "PHDFilter_Stage1",
  "PHDFilter_Stage2",
  "PHDFilter_Quad"
 }

MipTasks::OfflinerFunctionalitiesTable [static]

Initial value:

{

  true,     false,    false,    false,    true,       true,     false,    false,    false,    false,   
  true,     false,    false,    false,    true,       true,     false,    false,    false,    false,
  true,     false,    false,    false,    true,       false,    false,    false,    false,    false,
  false,    false,    true,     true,     false,      false,    false,    true,     true,     false,
    false,    false,    false,    false,    true,       false,    false,    false,    false,    true
 }

Expresses wether or not the functionalities of the task must be executed for different jobs.

Different jobs are disposed on different rows (first index), while columns indicates different functionalities. To check if a functionality is requested in one job, put the filter type as first index and the functionality type as second index of the filter.

const char* MipTasks::OfflinerTaskStatesNames[OFFLINER_TASK_STATES_NUM] [static]

Initial value:

 {
  "FirstRun",
  "NormalRun"
 }