DualCoding::Lookout Class Reference

The Lookout accepts LookoutRequests to move the head and collect sensor information. More...

#include <Lookout.h>

Inheritance diagram for DualCoding::Lookout:

Detailed Description

The Lookout accepts LookoutRequests to move the head and collect sensor information.

HeadMotionType can be none (user will point the head himself), pointAt, scan, track, or search. The data collected can be an image or distance reading, or for scan operations, it can be a list of locations where certain VisionObject or VisionRegion streams reported hits.

Definition at line 26 of file Lookout.h.

List of all members.

Public Member Functions
	Lookout ()
	Constructor.
virtual void	doStart ()
	Delegate function for subclasses to be notified when the behavior starts up.
virtual void	doStop ()
	Delegate function for subclasses to be notified when the behavior starts up.
virtual void	doEvent ()
	Delegate function for event processing, the event itself is pointed to (only for the duration of the doEvent() call!) by event.
virtual std::string	getDescription () const
	Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).
unsigned int	executeRequest (const LookoutRequestBase &)
unsigned int	executeRequest (BehaviorBase *requestingBehavior, const LookoutRequestBase &req)
bool	busy ()
void	stopTrack ()
void	moveHeadToPoint ()
void	relax ()
	Inactivates all Lookout motion commands; called when MapBuilder finishes.
Static Public Member Functions
static std::string	getClassDescription ()
	Gives a short description of what this class of behaviors does... you should override this (but don't have to).
static Shape< PolygonData >	groundSearchPoints ()
	returns a polygon with points for searching the ground around the robot
static Point	findLocationFor (const float normX, const float normY)
Static Public Attributes
static const unsigned int	invalid_LO_ID = (unsigned int)-1
Protected Types
enum	TrackerStates { inactive, moveToAcquire, tracking, searching, centering, lost }
enum	LookoutTimerSourceId_t { settle_timer = 1, sample_timer, lost_timer, scan_timer }
Protected Member Functions
virtual void	executeRequest ()
virtual void	requestComplete (bool result=true)
template<class T >
void	pushRequest (const LookoutRequestBase &req)


void	processPointAtEvent (const EventBase &event)
bool	findPixelModes ()


void	setupTrack ()
void	processTrackEvent (const EventBase &event)
Protected Attributes
std::vector< std::map< uchar, unsigned int > >	pixelHistograms
std::priority_queue< float >	distanceSamples
MC_ID	pointer_id
	id for HeadPointerMC for pointing the camera
MC_ID	posture_id
	id for PostureMC for pointing the IR sensors
MC_ID	sequence_id
	id for MotionSequenceMC for scanning
std::queue< LookoutRequestBase * >	requests
	queue of pending LookoutRequestBase instances, including the current request
LookoutRequestBase *	curReq
	pointer to request currently being executed
LookoutPointRequest *	curPAR
	current Point-At request (same object as curReq)
bool	successSave
enum DualCoding::Lookout::TrackerStates	trackerState
Private Member Functions
Lookout &	operator= (const Lookout &)
	Lookout (const Lookout &)
Private Attributes
unsigned int	idCounter

void	setupScan ()
void	triggerScanMotionSequence ()
void	processScanEvent (const EventBase &event)
void	scanAlongLine (const Point &start, const Point &end)
void	scanAlongPolygon (const std::vector< Point > &vertices, const bool closed=false)
void	scanArea (const Point &topLeft, const Point &topRight, const Point &bottomLeft, const Point &bottomRight)
void	storeVisionRegionDataTo (std::vector< Point > &, const std::set< color_index > &, int)
static Point	findLocationFor (const VisionObjectEvent &visev)
static Point	findLocationFor (const CMVision::region *reg)

void	setupSearch ()
void	processSearchEvent (const EventBase &event)
void	triggerSearchMotionSequence ()
static void	searchAt (HeadPointerMC &hpmc_temp, std::vector< float > &jointvals, const Point &target)

Member Enumeration Documentation

enum DualCoding::Lookout::LookoutTimerSourceId_t [protected]

Enumerator:

settle_timer
sample_timer
lost_timer
scan_timer

Definition at line 143 of file Lookout.h.

enum DualCoding::Lookout::TrackerStates [protected]

Enumerator:

inactive
moveToAcquire
tracking
searching
centering
lost

Definition at line 134 of file Lookout.h.

Constructor & Destructor Documentation

DualCoding::Lookout::Lookout ( )

Constructor.

Definition at line 31 of file Lookout.cc.

DualCoding::Lookout::Lookout ( const Lookout & ) [private]

Member Function Documentation

bool DualCoding::Lookout::busy ( )

Definition at line 40 of file Lookout.h.

void DualCoding::Lookout::doEvent ( ) [virtual]

Delegate function for event processing, the event itself is pointed to (only for the duration of the doEvent() call!) by event.

Default implementation watches for 'private' text message events (those forwarded by a BehaviorSwitchControl from ControllerGUI input) and will publically rebroadcast them. The idea is that your own processEvent gets first dibs, but if the behavior doesn't handle the text message, it will be handed off for others.

Reimplemented from BehaviorBase.

Definition at line 235 of file Lookout.cc.

void DualCoding::Lookout::doStart ( ) [virtual]

Delegate function for subclasses to be notified when the behavior starts up.

Should be overridden by subclasses to subscribe to events, install motion commands, etc.

doStart() is basically a hook to allow subclasses to jump in and do some customization of behavior parameters while the behavior is starting. If you are writing a behavior class and do not expect further derivation, just override doStart() yourself. However, if you do expect further derivation of your class, consider using preStart() or postStart() instead, and leave doStart() for the 'leaf' classes.

Reimplemented from BehaviorBase.

Definition at line 42 of file Lookout.cc.

void DualCoding::Lookout::doStop ( ) [virtual]

Delegate function for subclasses to be notified when the behavior starts up.

May be overridden to cleanup when the behavior is shutting down. However events will automatically be unsubscribed, and by using addMotion(), motions will automatically be removed by stop(), so you may not need any cleanup.

Reimplemented from BehaviorBase.

Definition at line 58 of file Lookout.cc.

void DualCoding::Lookout::executeRequest ( ) [protected, virtual]

Definition at line 144 of file Lookout.cc.

Referenced by executeRequest(), and requestComplete().

unsigned int DualCoding::Lookout::executeRequest	(	BehaviorBase *	requestingBehavior,
		const LookoutRequestBase &	req
	)

Definition at line 113 of file Lookout.cc.

unsigned int DualCoding::Lookout::executeRequest ( const LookoutRequestBase & req )

Definition at line 120 of file Lookout.cc.

Point DualCoding::Lookout::findLocationFor ( const CMVision::region * reg ) [static, protected]

Definition at line 458 of file Lookout.cc.

static Point DualCoding::Lookout::findLocationFor ( const VisionObjectEvent & visev ) [static, protected]

Definition at line 83 of file Lookout.h.

Point DualCoding::Lookout::findLocationFor	(	const float	normX,
		const float	normY
	)			`[static]`

Definition at line 768 of file Lookout.cc.

Referenced by findLocationFor(), processScanEvent(), processTrackEvent(), and storeVisionRegionDataTo().

bool DualCoding::Lookout::findPixelModes ( ) [protected]

Definition at line 327 of file Lookout.cc.

Referenced by processPointAtEvent().

static std::string DualCoding::Lookout::getClassDescription ( ) [static]

Gives a short description of what this class of behaviors does... you should override this (but don't have to).

If you do override this, also consider overriding getDescription() to return it

Reimplemented from BehaviorBase.

Definition at line 35 of file Lookout.h.

Referenced by getDescription().

virtual std::string DualCoding::Lookout::getDescription ( ) const [virtual]

Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).

By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!)

This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so.

Reimplemented from BehaviorBase.

Definition at line 36 of file Lookout.h.

Shape< PolygonData > DualCoding::Lookout::groundSearchPoints ( ) [static]

returns a polygon with points for searching the ground around the robot

Definition at line 75 of file Lookout.cc.

void DualCoding::Lookout::moveHeadToPoint ( )

Definition at line 198 of file Lookout.cc.

Referenced by executeRequest().

Lookout& DualCoding::Lookout::operator= ( const Lookout & ) [private]