MipTasks Namespace Reference

This namespace includes all classes related to tasks. More...

Classes
class	AntiSimmetryTaskOptions
	Options for the AntiSimmetryTask. More...
class	AntiSimmetryTaskSharedMem
	Shared memory for the AntiSimmetryTask. More...
class	AntiSimmetryTask
	Task for the execution of an anti simmetry control law for a MultiRobot system. More...
class	ClearingOptions
	Options for for the clearing task. More...
class	ClearingSharedMem
	Shared memory for the clearing. More...
class	ClearingTask
	Task for the clearing. More...
class	ClocheOptions
class	Cloche
	Cloche task provides a simple way to command a uav using a keyboard. More...
class	DeployOptions
class	DeployTask
	Motion coordination task: deployment of a team of robots. More...
class	DriverOptions
	Options for the Driver task. More...
class	DriverSharedMem
	Shared memory for the driver. More...
class	DriverTaskPar
	parameters of DriverTask class More...
class	DriverTask
	DriverTask class. More...
class	EmergencyLockSharedMem
	Shared memory for the emergency lock. More...
class	EmergencyLock
	Emergency lock. More...
class	ExampleTaskOptions
	Examples of the use of the Options class for a task. More...
class	ExampleTaskSharedMem
	Example of the use of the shared memory for a task. More...
class	ExampleTask
	Generic example of a task. More...
class	FeatExtrCamOptions
class	FeatExtrCamVar
class	FeatExtrCamSharedMem
	Shared memory for the feature extraction. More...
class	FeatExtrCam
	Visual hovering task for Uavs. More...
class	FeatExtrOptions
	Options for the feature extraction. More...
class	FeatExtrSharedMem
	Shared memory for the feature extraction. More...
class	FeatExtrTask
	Feature Extraction Task. More...
class	FormControlTaskOptions
	Options class for FormControlTask. More...
class	FormControlTaskSharedMem
	Shared memory class for FormControlTask. More...
class	FormControlTask
	Formation Control Task. More...
class	FormUpdateSharedMem
	Shared memory for the formation update. More...
class	FormUpdate
	task for the formation update More...
class	JoystickOptions
	Options for the mutual localization. More...
class	JoystickSharedMem
	Shared memory for the mutual localization. More...
class	Joystick
	Joystick task provides a simple way to command a mobile robot using a keyboard. More...
class	KbHitTask
class	LaserNavigationSharedMem
	Shared memory for the Entrapment. More...
class	LaserNavigationTaskOptions
class	LaserNavigationTask
	Laser Navigation Task. More...
class	LineFollowingOptions
class	LineFollowingSharedMem
	Shared memory for the mutual localization. More...
class	LFDistanceEstimator
	Estimates the distance from the center of the line from the reading of two ground sensors. More...
class	LineFollowing
	LineFollowing task. More...
class	Localization3DOptions
class	Localization3DSharedMem
	Shared memory for the self localization. More...
class	Localization3D
	Options for for the self localization task. More...
class	MutLocOptions
	Options for for the mutual localization task. More...
class	MutLocSharedMem
	Shared memory for the mutual localization. More...
class	MutLocTask
	Task for the mutual localization. More...
class	ObstacleAvoidanceOptions
	Options for the ObstacleAvoidance task class. More...
class	ObstacleAvoidanceSharedMem
	Shared memory for the ObstacleAvoidance task class. More...
class	ObstacleAvoidancePar
	Parameters of ObstacleAvoidance task class. More...
class	ObstacleAvoidance
	ObstacleAvoidance class. More...
class	OfflinerTaskOptions
	Examples of the use of the Options class for a task. More...
class	OfflinerTaskSharedMem
	Example of the use of the shared memory for a task. More...
class	OfflinerTask
	Task for the offline execution of other tasks. More...
class	ParticleMutLocOptions
	Options for for the mutual localization task. More...
class	ParticleMutLocSharedMem
	Shared memory for the mutual localization. More...
class	ParticleMutLocTask
	Task for the mutual localization. More...
class	ParticleMutLocCamOffOptions
	Options for for the mutual localization task. More...
class	ParticleMutLocCamOffSharedMem
	Shared memory for the mutual localization. More...
class	ParticleMutLocCamOffTask
	Task for the mutual localization. More...
class	ParticleMutLocCamOptions
	Options for for the mutual localization task. More...
class	ParticleMutLocCamSharedMem
	Shared memory for the mutual localization. More...
class	ParticleMutLocCamTask
	Task for the mutual localization. More...
class	ParticleMutLocNoMROptions
	Options for for the mutual localization task. More...
class	ParticleMutLocNoMRSharedMem
	Shared memory for the mutual localization. More...
class	ParticleMutLocTaskNoMR
	Task for the mutual localization. More...
class	CentralizedPHDFilterTaskOptions
	PHDFilters of the use of the Options calss for a task. More...
class	CentralizedPHDFilterTask
	Task that uses the phdFilter algorithm. More...
class	PHDCamFilterTaskOptions
	Options for the task using the PHDCamFilter. More...
class	PHDCamFilterTaskSharedMem
	PHDCamFilter of the use of the shared memory for a task. More...
class	PHDCamFilterTask
	Task that uses the phdFilter algorithm. More...
class	PHDFilterTaskOptions
	Options for the task using the PHDFilter. More...
class	PHDFilterTaskSharedMem
	PHDFilter of the use of the shared memory for a task. More...
class	PHDFilterTask
	Task that uses the phdFilter algorithm. More...
class	PursuingOptions
	Options for for the scan matching task. More...
class	Pursuing
	Task for pursuing. More...
class	PursuingComm
	Task for pursuing. More...
class	PursuingSharedMem
	Shared memory for the Pursuing task. More...
class	RemoteRobTaskOptions
class	RemoteRobSharedMem
	Shared memory for the RemoteRob. More...
class	RemoteRobTask
	task for the mutual localization More...
class	ScanMatchingOptions
	Options for for the scan matching task. More...
class	ScanMatchingSharedMem
	Shared memory for the scan matching. More...
class	ScanMatching
	Localizes a robot using the scan matching. More...
class	Task
	abstract Task class More...
class	TaskUtilities
class	TrackerSharedMem
	Shared memory for the exploration. More...
class	TrackerOptions
	Options for the task Tracker. More...
class	Tracker
	Task for the application of the Dynamic Feedback Linearization (DFL). More...
class	UavHeightControlOptions
	Examples of the use of the Options class for a task. More...
class	UavHeightControl
	Performs height control. More...
class	UavHeiConOnboardOptions
class	UavHeiConOnboard
	Performs height control with inner control loop. More...
class	UAVPositioningSystemOptions
class	UAVPositioningSystemVar
class	UAVPositioningSystem
class	VisualHoveringOptions
class	VisualHoveringVar
class	VisualHovering
	Visual hovering task for Uavs. More...
Typedefs
typedef CGAL::Polygon_with_holes_2< K >	Polygon_with_holes_2
typedef CGAL::Polygon_set_2< K >	Polygon_set_2
typedef vector< Position >	ScanPoints
	a vector of positions
typedef std::vector< Position >	PositionPath
typedef std::vector< Position >	ViewPoints
typedef vector< Task * >	TasksPointers
typedef vector< Task ** >	TasksPPointers
typedef Task *	create_task (ResourcePointers resources, int argc, const char *argv[])
typedef void	destroy_task (Task *)
typedef vector< TaskPlate >	TaskPlates
Enumerations
enum	AntiSimmetryTaskStates { ANTISIMMETRY_TASK_FIRST_RUN, ANTISIMMETRY_TASK_NORMAL_RUN, ANTISIMMETRY_TASK_STATES_NUM }
	Enumerates the states of the AntiSimmetryTask. More...
enum	DeployState { DEPLOY_FIRST_RUN, DEPLOY_SETUP_RUN, DEPLOY_NORMAL_RUN, DEPLOY_NUM_RUNS }
	deployment task state More...
enum	DeployAlgo { CENTROID_ALGO = 0, WEIGHTED_NORMAL_ALGO = 1, CIRCUMCENTER_ALGO = 2, DEPLOY_NUM_ALGO }
	deployment algorithms More...
enum	DriverState { DRIVER_FIRST_RUN, DRIVER_NORMAL_RUN, DRIVER_NUM_RUNS }
	Driver task state. More...
enum	ObsAvoiMethod { NO = 0, PFM = 1, VFH = 2, OBSAVOI_NUM_METHODS }
	Possible obstacle avoidance method. More...
enum	DriveInput { POSITION = 0, SPEED = 1, DRIVE_INPUT_NUM }
	Different types of inputs for the driver. More...
enum	ExampleTaskStates {   EXAMPLE_TASK_FIRST_RUN, EXAMPLE_TASK_NORMAL_RUN, EXAMPLE_TASK_STATES_NUM, EXAMPLE_TASK_FIRST_RUN,   EXAMPLE_TASK_NORMAL_RUN, EXAMPLE_TASK_STATES_NUM }
	Enumerates the states of the ExampleTask. More...
enum	FeatExtrCamTypes { FEAT_EXTRCAM_CAMSHIFT, FEAT_EXTRCAM_TYPES_NUM }
	Enumerates the types of the task. More...
enum	FeatExtrCamStates { FEAT_EXTRCAM_FIRST_RUN, FEAT_EXTRCAM_NORMAL_RUN, FEAT_EXTRCAM_LAST_RUN, FEAT_EXTRCAM_STATES_NUM }
	Enumerates the states of the task. More...
enum	FormControlTaskStates { FORM_CONTROL_FIRST_RUN, FORM_CONTROL_NORMAL_RUN, FORM_CONTROL_STATES_NUM }
	Enumerates the states of the FormControlTask. More...
enum	lineFollowingControls { LINE_FOLLOWING_CTRL_LINEAR, LINE_FOLLOWING_CTRL_ADAPTIVE, LINE_FOLLOWING_CTRL_NUM }
	Types of line following control. More...
enum	LineFollowingPhases { LINEFOLLOW_INIT, LINEFOLLOW_CONTROL, LINEFOLLOW_EXIT, LINEFOLLOW_NUM }
	States of the LineFollowing task. More...
enum	ObstacleAvoidanceState { obstacleAvoidance_FIRST_RUN, obstacleAvoidance_OBS_AV_NORMAL_RUN, obstacleAvoidance_NUM_RUNS }
	States of the ObstacleAvoidance task class. More...
enum	ObstacleAvoidanceMethods {   OBS_AV_NO, OBS_AV_LIP, OBS_AV_PFM, OBS_AV_VFH,   OBS_AV_SND, OBS_AV_NUM_METHODS }
	Obstacle avoidance method. More...
enum	ObstacleAvoidanceInputTypes { OBS_AV_POSITION, OBS_AV_SPEED, OBS_AV_NUM_INPUT_TYPES }
enum	OfflineJobs {   OJ_PARTICLE_MUT_LOC, OJ_FAST_SLAM_PMLNMR, OJ_PHDFILTER_STAGE1, OJ_PHDFILTER_STAGE2,   OJ_PHDFILTER_QUAD, OFFLINE_JOBS_TYPES_NUM }
	Types of jobs that can be performed offline. More...
enum	OfflinerFunctionalities {   OFF_SHME_MYPF, OFF_SHME_MYCO, OFF_SHME_MYCI, OFF_SHME_MYGM,   OFF_COMM_OTPOSE, OFF_COMM_OTPF, OFF_COMM_OTCO, OFF_COMM_OTCI,   OFF_COMM_OTGM, OFF_EMU_UAV, OFFLINER_FUNCTIONALITIES_NUM }
	Enumerates all different functionalities of the task. More...
enum	OfflinerTaskStates { OFFLINER_TASK_FIRST_RUN, OFFLINER_TASK_NORMAL_RUN, OFFLINER_TASK_STATES_NUM }
	Enumerates the states of the OfflinerTask. More...
enum	FrameTypes {   FIXED_FRAME, ATTACHED_FRAME, FRAME_TYPES_NUM, FIXED_FRAME,   ATTACHED_FRAME, FRAME_TYPES_NUM }
	Types of system of coordinates. More...
enum	FrameOffTypes { FIXED_OFF_FRAME, ATTACHED_OFF_FRAME, FRAME_OFF_TYPES_NUM }
enum	FrameTypes {   FIXED_FRAME, ATTACHED_FRAME, FRAME_TYPES_NUM, FIXED_FRAME,   ATTACHED_FRAME, FRAME_TYPES_NUM }
enum	FrameTypesPMLNMR { FIXED_FRAME_PMLNMR, ATTACHED_FRAME_PMLNMR, FRAME_TYPES_NUM_PMLNMR }
enum	MutLocNoMRTypes { MAX_LIK_PMLNMR, FAST_SLAM_PMLNMR, MUTLOC_NOMR_TYPES_NUM }
	Types of mutual localization algorithm not using multireg. More...
enum	PMLNOMRTaskFunctionalities {   PMLNOMR_TASK_COMM_MYPOSE, PMLNOMR_TASK_COMM_MYPF, PMLNOMR_TASK_SEP_FILTERS, PMLNOMR_TASK_SING_FILT,   PMLNOMR_TASK_FUNCTIONALITIES_NUM }
enum	PHDFilterTaskFunctionalities {   PHDF_TASK_COMM_MYPOSE, PHDF_TASK_COMM_MYCI, PHDF_TASK_COMM_MYGM, PHDF_TASK_COMM_MYPF,   PHDF_TASK_COMP_EKF, PHDF_TASK_USEOTH_PF, PHDF_TASK_SELF_ESTIM, PHDF_TASK_ROBOCENTRIC,   PHDF_TASK_PHD_FILT, PHDF_TASK_FUNCTIONALITIES_NUM }
	Enumerates all different functionalities of the task. More...
enum	PursuingMessageTypes {   PUR_MES_MY_POSE, PUR_MES_MY_STATE, PUR_MES_GIMME_FRONTIER, PUR_MES_MY_FRONTIER,   PUR_MES_NO_GUARD_FRONTIER, PUR_MES_YOUR_NEW_FRONTIER, PUR_MES_FOLLOW, PUR_MES_EXPAND,   PUR_MES_WANDER, PUR_MES_WANNA_BE_FOLLOWER, PUR_MES_NO_GUARD_AFFILIATION, PUR_MES_FOLLOW_ME,   PUR_MES_NUM }
	The messages used by the Pursuing task. A posteriori, we have four categories of messages: AsyncInfo (MY_POSE) AsyncRequest which can be received in every state aka UniversalAsyncRequest (GIMME_FRONTIER,GIMME_STATE,WANNA_BE_FOLLOWER) AsyncRequest which can be received only in the follow state (FOLLOW,EXPAND,WANDER) SyncAnswer (MY_FRONTIER,YOUR_NEW_FRONTIER,FOLLOW_ME,I_AM_NOT_A_GUARD_FRONTIER,I_AM_NOT_A_GUARD_AFFILIATION,MY_STATE). AsyncRequests and SyncAnswers are referred to as Dialog messages. More...
enum	PursuingStates {   PUR_STA_EXPAND, PUR_STA_FRONT_GUARD, PUR_STA_FOLLOW, PUR_STA_WANDER,   PUR_STA_NUM }
	The possible states of the Pursuing task. More...
enum	PursuingGuardUpdatingStates { PUR_STA_FRONT_GUARD_UPDATING_FREE, PUR_STA_FRONT_GUARD_UPDATING_WAITING, PURSUING_GUARD_UPDATING_NUM }
	The possible states of updating guards in the Pursuing task. More...
enum	PursuingGuardStates { PUR_STA_FRONT_GUARD_UPDATING, PUR_STA_FRONT_GUARD_SEND_FOLLOWER, PUR_STA_FRONT_GUARD_PLANNING, PUR_STA_FRONT_GUARD_NUM }
	The possible states of established guards in the Pursuing task. More...
enum	PursuingWandererStates { PUR_STA_WANDER_FREE, PUR_STA_WANDER_WAITING, PUR_STA_WANDER_NUM }
	The possible states of wanderers in the Pursuing task. More...
enum	GuardUpdatingState {   PUR_GUARD_UPDATING_STA_TODO, PUR_GUARD_UPDATING_STA_SENT_REQUEST, PUR_GUARD_UPDATING_STA_RECEIVED_VALID_REQUEST, PUR_GUARD_UPDATING_STA_DONE_UPDATING,   PUR_GUARD_UPDATING_STA_NUM }
	The possible states of the Pursuing task. More...
enum	PursuingState {   WAITING, INITIALIZE, RUN, WAITING,   INITIALIZE, RUN }
enum	PursuingState {   WAITING, INITIALIZE, RUN, WAITING,   INITIALIZE, RUN }
enum	RemoteRobotCommPacketsTypes {   RRB_SCAN_UP, RRB_SCAN_DOWN, RRB_SCAN_GET_ONE, RRB_SCAN_GET_N,   RRB_IR_UP, RRB_IR_DOWN, RRB_IR_GET_ONE, RRB_IR_GET_N,   RRB_GP_UP, RRB_GP_DOWN, RRB_GP_GET_ONE, RRB_GP_GET_N,   RRB_VG_UP, RRB_VG_DOWN, RRB_VG_GET_ONE, RRB_VG_GET_N,   RRB_COMM_PACKETS_TYPES_NUM }
enum	ScanMatchingPhases { SCANMATCH_GET_FIRST_SCAN_ONLY, SCANMATCH_WAIT_MIN_SAMPL_TIME_OR_GET_SCAN_AND_START_MATCH, SCANMATCH_WAIT_RESULT_OR_WRITE_IT, SCANMATCH_NUM }
	States of the ScanMatching task. More...
enum	TaskOutputs { TASK_OUT_GO_ON, TASK_OUT_EXIT_NORMAL, TASK_OUT_EXIT_GENERIC_PROBLEM, TASK_OUT_NUM }
enum	TaskPlate {   NULL_TASK, UPS_TASK, EXA_TASK, FEA_TASK,   KBH_TASK, DPL_TASK, DRV_TASK, JOY_TASK,   ENT_TASK, MTL_TASK, PML_TASK, PMO_TASK,   PDE_TASK, TKR_TASK, RRB_TASK, LNV_TASK,   FUP_TASK, EML_TASK, CLO_TASK, LOC_TASK,   L3D_TASK, SCM_TASK, LNF_TASK, PUR_TASK,   OBA_TASK, VHO_TASK, FEC_TASK, ASI_TASK,   FCT_TASK, CLE_TASK, OFF_TASK, PHD_TASK,   PHC_TASK, CPH_TASK, UHC_TASK, OHC_TASK,   PLU_TASK, TASK_NUM }
	task plates which identifies every possible task More...
enum	TrackerState { TRACKER_IDLE_STATE, TRACKER_FIRST_STATE, TRACKER_NORMAL_STATE, TRACKER_NUM_STATES }
	States of the tracker. More...
enum	TrackerPath {   TRACKER_ASTEROID_PATH, TRACKER_CARDIOID_PATH, TRACKER_CLOTHOID_PATH, TRACKER_EIGHT_PATH,   TRACKER_ELLIPSE_PATH, TRACKER_SEGMENT_PATH, TRACKER_NUM_PATHS }
	Possible paths of the tracker. More...
enum	TrackerTimeLaw {   TRACKER_STILLNESS_TIMELAW, TRACKER_CONST_SPEED_TIMELAW, TRACKER_TRIANGULAR_SPEED_TIMELAW, TRACKER_TRAPEZOIDAL_SPEED_TIMELAW,   TRACKER_CUBIC_SPEED_TIMELAW, TRACKER_TRAPEZOIDAL_ACC_TIMELAW, TRACKER_TRAPEZOIDAL_DEC_TIMELAW, TRACKER_NUM_TIMELAWS }
	Possible time Law of the tracker. More...
enum	UavHeightControlStates {   UAV_HEIGHT_CONTROL_FIRST_RUN, UAV_HEIGHT_CONTROL_NORMAL_RUN_BKS, UAV_HEIGHT_CONTROL_NORMAL_RUN_PID, UAV_HEIGHT_CONTROL_ONOFF_MOTORS,   UAV_HEIGHT_CONTROL_STATES_NUM }
	Enumerates the states of the HeightControlTask. More...
enum	UavHeiConOnboardStates { UAV_HEIGHT_CONTROL_ONBOARD_FIRST_RUN, UAV_HEIGHT_CONTRO_ONBOARDL_NORMAL_RUN, UAV_HEIGHT_CONTROL_ONBOARD_ONOFF_MOTORS, UAV_HEIGHT_CONTROL_ONBOARD_STATES_NUM }
enum	ExampleTaskStates {   EXAMPLE_TASK_FIRST_RUN, EXAMPLE_TASK_NORMAL_RUN, EXAMPLE_TASK_STATES_NUM, EXAMPLE_TASK_FIRST_RUN,   EXAMPLE_TASK_NORMAL_RUN, EXAMPLE_TASK_STATES_NUM }
enum	UAVPositioningSystemTypes { UAV_POSITIONING_SYSTEM_TYPE, UAV_POSITIONING_SYSTEM_TYPE_NUM }
enum	UAVPositioningSystemStates {   UAV_POSITIONING_SYSTEM_FIRST_RUN, UAV_POSITIONING_SYSTEM_NORMAL_RUN, UAV_POSITIONING_SYSTEM_PTAMM_FIRST_STATE, UAV_POSITIONING_SYSTEM_PTAMM_SECOND_STATE,   UAV_POSITIONING_SYSTEM_PTAMM_THIRD_STATE, UAV_POSITIONING_SYSTEM_PTAMM_FOURTH_STATE, UAV_POSITIONING_SYSTEM_PTAMM_FIFTH_STATE, UAV_POSITIONING_SYSTEM_PTAMM_NAVIGATION,   UAV_POSITIONING_SYSTEM_LAST_RUN, UAV_POSITIONING_SYSTEM_STATES_NUM }
enum	visualHoveringTypes { VISUAL_HOVERING_CAMSHIFT, VISUAL_HOVERING_TYPES_NUM }
	Enumerates the types of the task. More...
enum	VisualHoveringStates { VISUAL_OVERING_FIRST_RUN, VISUAL_OVERING_NORMAL_RUN, VISUAL_OVERING_LAST_RUN, VISUAL_OVERING_STATES_NUM }
	Enumerates the states of the task. More...
Functions
int	pickIndexInRange (int iMin, int iMax)
	|todo Replace with some MIP randomizer if possible, or put somewhere else
void	scanSenderWork (void *t)
	callback for thread
void	poseVeloSenderClean (void *p)
	clean the continuous scan process (for thread)
void	poseVeloSenderWork (void *t)
	callback for thread
void	scanSenderClean (void *p)
	clean the continuous scan process (for thread)
Variables
static const char *	AntiSimmetryTaskStatesNames [ANTISIMMETRY_TASK_STATES_NUM]
static const char *	ExampleTaskStatesNames [EXAMPLE_TASK_STATES_NUM]
static const char *	FeatExtrCamTypesNames [FEAT_EXTRCAM_TYPES_NUM]
static const char *	FeatExtrCamStatesNames [FEAT_EXTRCAM_STATES_NUM]
static const char *	FormControlTaskStatesNames [FORM_CONTROL_STATES_NUM]
static const char *	LineFollowingPhasesNames [LINEFOLLOW_NUM]
static const char *	lineFollowingControlNames [LINE_FOLLOWING_CTRL_NUM]
static const char *	OfflineJobsNames [OFFLINE_JOBS_TYPES_NUM]
static const bool	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 *	OfflinerTaskStatesNames [OFFLINER_TASK_STATES_NUM]
static const char *	FrameTypesNames [FRAME_TYPES_NUM]
static const char *	FrameOffTypesNames [FRAME_OFF_TYPES_NUM]
static const char *	FrameTypesNamesPMLNMR [FRAME_TYPES_NUM_PMLNMR]
static const char *	MutLocNoMRNames [MUTLOC_NOMR_TYPES_NUM]
static const bool	PMLNOMRTaskFunctionalitiesTable [MUTLOC_NOMR_TYPES_NUM][PMLNOMR_TASK_FUNCTIONALITIES_NUM]
	Expresses wether or not the functionalities of the task must be executed for different types of filter.
vector< PlayerClient * >	_playerLaserClient
int	counter
static const bool	PHDFilterTaskFunctionalitiesTable [PHD_FILTER_TYPE_NUM][PHDF_TASK_FUNCTIONALITIES_NUM]
	Expresses wether or not the functionalities of the task must be executed for different types of filter.
int	gMinArcSize = 2
int	gMinMergeArcSize = 1
int	gMinRadialArcSize = 3
static const bool	_receivedMessAdmittedStates [PUR_MES_NUM][PUR_STA_NUM]
	Given a received message and a state, returns true if the pair msg/state is admitted, false otherwise.
static const bool	_outgoingMessAdmittedStates [PUR_MES_NUM][PUR_STA_NUM]
	Given an outgoing message and a state, returns true if the pair msg/state is admitted, false otherwise.
static const int	_priorMessages [PUR_MES_NUM]
	Given a received message, returns the prior message which has to be sent before, PUR_MES_NO_PRIOR means no prior message.
static const char *	pursuingMessageStrings [PUR_MES_NUM]
	The headers (aka messageTypes) of the messages used by the Pursuing task.
static const char *	pursuingStatesNames [PUR_STA_NUM]
	The names of the possible states of the Pursuing task.
static const char *	pursuingGuardUpdatingStatesNames [PURSUING_GUARD_UPDATING_NUM]
static const char *	pursuingGuardStatesNames [PUR_STA_FRONT_GUARD_NUM]
static const char *	pursuingWanderStatesNames [PUR_STA_WANDER_NUM]
static const char *	GuardUpdatingStateNames [PUR_GUARD_UPDATING_STA_NUM]
static const char *	RemoteRobotCommPackets [RRB_COMM_PACKETS_TYPES_NUM]
	Path names.
static const char *	ScanMatchingPhasesNames [SCANMATCH_NUM]
static const char *	TaskOutputsNames [TASK_OUT_NUM]
static const char *	TaskNames [TASK_NUM]
	task names
static const char *	TrackerPathNames [TRACKER_NUM_PATHS]
	Names of the possible paths of the tracker.
static const char *	TrackerTimeLawNames [TRACKER_NUM_TIMELAWS]
static const char *	UavHeightControlStatesNames [UAV_HEIGHT_CONTROL_STATES_NUM]
static const char *	UavHeiConOnboardStatesNames [UAV_HEIGHT_CONTROL_ONBOARD_STATES_NUM]
static const char *	UAVPositioningSystemTypesNames [UAV_POSITIONING_SYSTEM_TYPE_NUM]
static const char *	UAVPositioningSystemStatesNames [UAV_POSITIONING_SYSTEM_STATES_NUM]
static const char *	visualHoveringTypesNames [VISUAL_HOVERING_TYPES_NUM]
static const char *	VisualHoveringStatesNames [VISUAL_OVERING_STATES_NUM]

---

Detailed Description

This namespace includes all classes related to tasks.

---

Typedef Documentation

typedef Task* MipTasks::create_task(ResourcePointers resources, int argc, const char *argv[])

typedef void MipTasks::destroy_task(Task *)

typedef vector<TaskPlate> MipTasks::TaskPlates

TaskPlates

Author:

Antonio Franchi

typedef vector<Task*> MipTasks::TasksPointers

typedef vector<Task**> MipTasks::TasksPPointers

---

Enumeration Type Documentation

enum MipTasks::TaskOutputs

Enumerator:

TASK_OUT_GO_ON
TASK_OUT_EXIT_NORMAL
TASK_OUT_EXIT_GENERIC_PROBLEM
TASK_OUT_NUM

enum MipTasks::TaskPlate

task plates which identifies every possible task

Enumerator:

NULL_TASK
UPS_TASK
EXA_TASK
FEA_TASK
KBH_TASK
DPL_TASK
DRV_TASK
JOY_TASK
ENT_TASK
MTL_TASK
PML_TASK
PMO_TASK
PDE_TASK
TKR_TASK
RRB_TASK
LNV_TASK
FUP_TASK
EML_TASK
CLO_TASK
LOC_TASK
L3D_TASK
SCM_TASK
LNF_TASK
PUR_TASK
OBA_TASK
VHO_TASK
FEC_TASK
ASI_TASK
FCT_TASK
CLE_TASK
OFF_TASK
PHD_TASK
PHC_TASK
CPH_TASK
UHC_TASK
OHC_TASK
PLU_TASK
TASK_NUM

---

Function Documentation

int MipTasks::pickIndexInRange	(	int	iMin,
		int	iMax
	)

|todo Replace with some MIP randomizer if possible, or put somewhere else

---

Variable Documentation

const bool MipTasks::_outgoingMessAdmittedStates[PUR_MES_NUM][PUR_STA_NUM] [static]

Initial value:

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

Given an outgoing message and a state, returns true if the pair msg/state is admitted, false otherwise.

vector<PlayerClient*> MipTasks::_playerLaserClient

const int MipTasks::_priorMessages[PUR_MES_NUM] [static]

Initial value:

 {
              PUR_MES_NO_PRIOR,
             PUR_MES_NO_PRIOR,
       PUR_MES_NO_PRIOR,
          PUR_MES_GIMME_FRONTIER,
    PUR_MES_GIMME_FRONTIER,
    PUR_MES_MY_FRONTIER,
               PUR_MES_NO_PRIOR,
               PUR_MES_NO_PRIOR,
               PUR_MES_NO_PRIOR,
    PUR_MES_NO_PRIOR,
 PUR_MES_WANNA_BE_FOLLOWER ,
            PUR_MES_WANNA_BE_FOLLOWER,
 }

Given a received message, returns the prior message which has to be sent before, PUR_MES_NO_PRIOR means no prior message.

const bool MipTasks::_receivedMessAdmittedStates[PUR_MES_NUM][PUR_STA_NUM] [static]

Initial value:

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

Given a received message and a state, returns true if the pair msg/state is admitted, false otherwise.

int MipTasks::counter

const char* MipTasks::LineFollowingPhasesNames[LINEFOLLOW_NUM] [static]

Initial value:

 {
 
  "Line following control",
 }

MipTasks::PHDFilterTaskFunctionalitiesTable [static]

Initial value:

{

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

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

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

const char* MipTasks::ScanMatchingPhasesNames[SCANMATCH_NUM] [static]

Initial value:

 {
  "Scan Matching Get First Scan",
  "Scan Matching Wait Min Sampling Time Or Get Scan And Start Matching",
  "Scan Matching Wait Result Or Write It"
 }

const char* MipTasks::TaskNames[TASK_NUM] [static]

task names

const char* MipTasks::TaskOutputsNames[TASK_OUT_NUM] [static]

Initial value:

 {
  "TASK_OUT_GO_ON",
 "TASK_OUT_EXIT_NORMAL",
 "TASK_OUT_EXIT_GENERIC_PROBLEM"
 }