ClearingMobileRobot Class Reference

This class implements a mobile robots that performs clearing and navigates using the SND algorithm. More...

#include <ClearingMobileRobot.h>

List of all members.

Public Member Functions

ClearingMobileRobot (IdentityCL ID, int argc, const char *argv[])

Complete constructor.

ClearingMobileRobot (IdentityCL ID, int argc, const char *argv[], MobileRob *rob)

Pointer constructor.

~ClearingMobileRobot ()

Destructor.

IdentityCL getID ()

Gets the ID of the robot.

BehaviorTypes getBehavior ()

Gets the actual behaviour.

Grid getLSR ()

LRR getLRR ()

Frontier getFrontier ()

void velCmd (Decimal drive, Decimal turnrate)

Position getGoal ()

int getNumFrontierSegments ()

int getTotalFrontierCells ()

void setFrontier (Frontier frontier, bool bForce=false)

PathCl getPathCl ()

Pose getPose ()

Position getPosition ()

Position getViewpoint ()

Scan getScan ()

ExplorationParams getExplParams ()

double getSensorRange ()

double getCoverRange ()

double getWidth ()

int getLSRSize ()

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

double getLSRResolution ()

Position getLSRPosition ()

LSRBound getLSRBound ()

Cell * getCell (DubInt indices)

Cell * getCell (Position pos)

Cell * getCell (int i)

Position getCellPosition (DubInt indices)

int getNumFollowers ()

Position getFollowerPosition ()

void setToExpand (PathCl path, AgentVector neighbors, bool bDoExpand=true)

void setToGuard (AgentVector neighbors)

void setToFollow ()

void setToWander ()

void setToNoBehavior ()

void goTo (Position pos)

void addFollower (ClearingAgent *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 (DubInt iViewPoint, DubInt iCell)

Position pickBestViewPoint (int *iNumViewPoints, bool bDebugDisplay=false)

void updateFrontier (AgentVector neighbors, bool bDebugDisplay=false)

Protected Attributes

MobileRob * _mobileRob

Pointer to a previously allocated mobile robot.

IdentityCL m_iID

ID of the mobile robot.

Position goal

goal for the SND algorithm

Thread _motionThread

thread that calls the SND algorithm to implement the motion

BehaviorTypes m_eBehavior

Frontier m_frontier

Frontier m_freeArcs

Frontier m_prevFrontier

Grid m_LSR

Grid m_prevLSR

bool m_bFrontierInitialized

PathCl m_path

ClearingAgent * m_pWaitForAgent

AgentVector m_followers

Detailed Description

This class implements a mobile robots that performs clearing and navigates using the SND algorithm.

Author:: Joey Durham and Paolo Stegagno

Constructor & Destructor Documentation

ClearingMobileRobot::ClearingMobileRobot	(	IdentityCL	ID,
		int	argc,
		const char *	argv[]
	)

Complete constructor.

This constructor builds up a player mobile robot.

<sets the object that wil be passed to scanWork and scanClean

<sets the routine that must be called after startScan() is called

<sets the routine that must be called after stopScan() is called

<sets the slepping time of the continous scanning thread

ClearingMobileRobot::ClearingMobileRobot	(	IdentityCL	ID,
		int	argc,
		const char *	argv[],
		MobileRob *	rob
	)

Pointer constructor.

This constructor takes as input a pointer to a pre-built mobile robot.

<sets the object that wil be passed to scanWork and scanClean

<sets the routine that must be called after startScan() is called

<sets the routine that must be called after stopScan() is called

<sets the slepping time of the continous scanning thread

ClearingMobileRobot::~ClearingMobileRobot ( )

Destructor.

Member Function Documentation

void ClearingMobileRobot::Expand ( AgentVector neighbors ) [protected]

void ClearingMobileRobot::Guard ( AgentVector neighbors ) [protected]

void ClearingMobileRobot::processFrontier ( AgentVector neighbors ) [protected]

void ClearingMobileRobot::Wander ( AgentVector neighbors ) [protected]

void ClearingMobileRobot::recordLSR ( ) [protected]

bool ClearingMobileRobot::isCellCovered	(	DubInt	iViewPoint,
		DubInt	iCell
	)			`[protected]`

Position ClearingMobileRobot::pickBestViewPoint	(	int *	iNumViewPoints,
		bool	bDebugDisplay = `false`
	)			`[protected]`

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

IdentityCL ClearingMobileRobot::getID ( ) [inline]

Gets the ID of the robot.

BehaviorTypes ClearingMobileRobot::getBehavior ( ) [inline]

Gets the actual behaviour.

Grid ClearingMobileRobot::getLSR ( ) [inline]

LRR ClearingMobileRobot::getLRR ( ) [inline]

Frontier ClearingMobileRobot::getFrontier ( ) [inline]

void ClearingMobileRobot::velCmd	(	Decimal	drive,
		Decimal	turnrate
	)			`[inline]`

Position ClearingMobileRobot::getGoal ( ) [inline]

int ClearingMobileRobot::getNumFrontierSegments ( ) [inline]

int ClearingMobileRobot::getTotalFrontierCells ( )

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

PathCl ClearingMobileRobot::getPathCl ( ) [inline]

Pose ClearingMobileRobot::getPose ( void ) [inline]

Position ClearingMobileRobot::getPosition ( void ) [inline]

Position ClearingMobileRobot::getViewpoint ( )

Scan ClearingMobileRobot::getScan ( )

ExplorationParams ClearingMobileRobot::getExplParams ( )

double ClearingMobileRobot::getSensorRange ( ) [inline]

double ClearingMobileRobot::getCoverRange ( )

double ClearingMobileRobot::getWidth ( ) [inline]

int ClearingMobileRobot::getLSRSize ( ) [inline]

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

double ClearingMobileRobot::getLSRResolution ( ) [inline]

Position ClearingMobileRobot::getLSRPosition ( )

LSRBound ClearingMobileRobot::getLSRBound ( ) [inline]

Cell* ClearingMobileRobot::getCell ( DubInt indices ) [inline]

Cell* ClearingMobileRobot::getCell ( Position pos ) [inline]

Cell* ClearingMobileRobot::getCell ( int i ) [inline]

Position ClearingMobileRobot::getCellPosition ( DubInt indices ) [inline]

int ClearingMobileRobot::getNumFollowers ( ) [inline]

Position ClearingMobileRobot::getFollowerPosition ( )

void ClearingMobileRobot::setToExpand	(	PathCl	path,
		AgentVector	neighbors,
		bool	bDoExpand = `true`
	)

void ClearingMobileRobot::setToGuard ( AgentVector neighbors )

void ClearingMobileRobot::setToFollow ( )

void ClearingMobileRobot::setToWander ( )

void ClearingMobileRobot::setToNoBehavior ( )

void ClearingMobileRobot::goTo ( Position pos )

void ClearingMobileRobot::addFollower	(	ClearingAgent *	newFollower,
		bool	bMove = `true`
	)

void ClearingMobileRobot::doCurrentBehavior ( AgentVector neighbors )

bool ClearingMobileRobot::isLeader ( )

bool ClearingMobileRobot::isReady ( )

TODO understand this condition (now commented)

bool ClearingMobileRobot::isWaitingForAnyAgent ( )

bool ClearingMobileRobot::isWaitingForAgent ( int iID )

void ClearingMobileRobot::clearWaitingForAgent ( )

bool ClearingMobileRobot::isTraveling ( )

void ClearingMobileRobot::drawBoundary ( Graphics2dProxy & gp )

void ClearingMobileRobot::drawFrontier ( Graphics2dProxy & gp )

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

bool ClearingMobileRobot::canDetectTargetPosition ( Position targetPos )

Member Data Documentation

MobileRob* ClearingMobileRobot::_mobileRob [protected]

Pointer to a previously allocated mobile robot.

IdentityCL ClearingMobileRobot::m_iID [protected]

ID of the mobile robot.

Position ClearingMobileRobot::goal [protected]

goal for the SND algorithm

Thread ClearingMobileRobot::_motionThread [protected]

thread that calls the SND algorithm to implement the motion

BehaviorTypes ClearingMobileRobot::m_eBehavior [protected]

Frontier ClearingMobileRobot::m_frontier [protected]

Frontier ClearingMobileRobot::m_freeArcs [protected]

Frontier ClearingMobileRobot::m_prevFrontier [protected]

Grid ClearingMobileRobot::m_LSR [protected]

Grid ClearingMobileRobot::m_prevLSR [protected]

bool ClearingMobileRobot::m_bFrontierInitialized [protected]

PathCl ClearingMobileRobot::m_path [protected]

ClearingAgent* ClearingMobileRobot::m_pWaitForAgent [protected]

AgentVector ClearingMobileRobot::m_followers [protected]

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

tasks/ClearingTask/ClearingMobileRobot.h
tasks/ClearingTask/ClearingMobileRobot.cpp


Public Member Functions
	ClearingMobileRobot (IdentityCL ID, int argc, const char *argv[])
	Complete constructor.
	ClearingMobileRobot (IdentityCL ID, int argc, const char argv[], MobileRob rob)
	Pointer constructor.
	~ClearingMobileRobot ()
	Destructor.
IdentityCL	getID ()
	Gets the ID of the robot.
BehaviorTypes	getBehavior ()
	Gets the actual behaviour.
Grid	getLSR ()
LRR	getLRR ()
Frontier	getFrontier ()
void	velCmd (Decimal drive, Decimal turnrate)
Position	getGoal ()
int	getNumFrontierSegments ()
int	getTotalFrontierCells ()
void	setFrontier (Frontier frontier, bool bForce=false)
PathCl	getPathCl ()
Pose	getPose ()
Position	getPosition ()
Position	getViewpoint ()
Scan	getScan ()
ExplorationParams	getExplParams ()
double	getSensorRange ()
double	getCoverRange ()
double	getWidth ()
int	getLSRSize ()
vector< Cell * >	getRaster (DubInt iCell1, DubInt iCell2)
double	getLSRResolution ()
Position	getLSRPosition ()
LSRBound	getLSRBound ()
Cell *	getCell (DubInt indices)
Cell *	getCell (Position pos)
Cell *	getCell (int i)
Position	getCellPosition (DubInt indices)
int	getNumFollowers ()
Position	getFollowerPosition ()
void	setToExpand (PathCl path, AgentVector neighbors, bool bDoExpand=true)
void	setToGuard (AgentVector neighbors)
void	setToFollow ()
void	setToWander ()
void	setToNoBehavior ()
void	goTo (Position pos)
void	addFollower (ClearingAgent *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 (DubInt iViewPoint, DubInt iCell)
Position	pickBestViewPoint (int *iNumViewPoints, bool bDebugDisplay=false)
void	updateFrontier (AgentVector neighbors, bool bDebugDisplay=false)
Protected Attributes
MobileRob *	_mobileRob
	Pointer to a previously allocated mobile robot.
IdentityCL	m_iID
	ID of the mobile robot.
Position	goal
	goal for the SND algorithm
Thread	_motionThread
	thread that calls the SND algorithm to implement the motion
BehaviorTypes	m_eBehavior
Frontier	m_frontier
Frontier	m_freeArcs
Frontier	m_prevFrontier
Grid	m_LSR
Grid	m_prevLSR
bool	m_bFrontierInitialized
PathCl	m_path
ClearingAgent *	m_pWaitForAgent
AgentVector	m_followers