DualCoding::Pilot Class Reference

The Pilot is the top-level navigation engine for Tekkotsu. More...

#include <Pilot.h>

Inheritance diagram for DualCoding::Pilot:

Detailed Description

The Pilot is the top-level navigation engine for Tekkotsu.

The Pilot accepts and executes PilotRequest instances.

Navigation involves a combination of path planning, odometry, and landmark-based localization. The Pilot uses the ShapeSpacePlannerXYTheta planner to find a path from the robot's current position to a target location that avoids collisions with worldShS shapes marked as obstacles.

Once a path is found, the Pilot formulates a navigation plan consisting of a series of travel steps, turn steps, and localization steps. The navigation planner is somewhat clever about where it places localization steps in order to avoid slowing down the robot's progress too much, but additional optimizations are possible.

Finally, the Pilot executes the navigation plan. Because both motion and odometry are subject to error, the robot can drift off course as it travels. When this is detected via a localization step, the execution engine attempts a correction by inserting a new turn step in the navigation plan and altering the travel step that follows.

Definition at line 88 of file Pilot.h.

List of all members.

Classes
struct	BearingLessThan
	Functor used to sort gaze points by their relative bearing from the robot. More...
class	ClearOldPath
class	CollisionChecker
	Collision checker service; its behavior is model-dependent. More...
class	CollisionDispatch
	Used by Pilot walk machines to decide how to respond to a collision. More...
class	ConstructNavPlan
	Construct a navigation plan: mixture of traveling, turning, and localizing steps. More...
class	Dispatch
class	ExecutePlan
	Execute a navigation plan; used for both goToShape and pushObject. More...
class	GoToShapeMachine
class	LocalizationMachine
class	LocalizationUtility
	State machine called by various Pilot functions to perform a landmark search and localization. More...
class	LookForObject
class	LookForTarget
class	PlanPath
class	PushObjectMachine
class	ReportCompletion
class	RunMotionModel
	Run the particle filter's motion model every few hundred milliseconds to provide odometry. More...
class	RunOpticalFlow
	Compute optical flow for visual odometry. Currently disabled. More...
class	SetOdometryMachine
class	SetupLandmarkExtractor
class	SetVelocityMachine
class	TerminateDueToCollision
	Terminate a walk operation and indicate that a collision was responsible. More...
class	VisualSearchMachine
class	WalkMachine
class	WaypointWalkMachine
Public Types
typedef unsigned int	PilotVerbosity_t
Public Member Functions
	Pilot (const std::string &nodename="Pilot")
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.
void	unwindForNextRequest ()
unsigned int	executeRequest (BehaviorBase *requestingBehavior, const PilotRequest &req)
void	executeRequest ()
void	requestComplete (PilotTypes::ErrorType_t errorType)
void	requestComplete (const PilotEvent &e)
void	pilotPop ()
void	pilotAbort ()
void	changeVelocity (float vx, float vy=0, float va=0)
	Change velocity for walk or setVelocity requests.
void	cancelVelocity ()
	forces completion of a setVelocity operation
void	setWorldBounds (float minX, float width, float minY, float height)
void	setWorldBounds (const Shape< PolygonData > &bounds)
	Set world bounds to constrain the path planner.
void	randomizeParticles (float widthIncr=1000, float heightIncr=1000)
	Randomize the particles before localization.
void	computeParticleBounds (float widthIncr=0, float heightIncr=0)
	Compute bounds for random particle distribution based on world shapes.
void	setDefaultLandmarks (const std::vector< ShapeRoot > &landmarks)
const std::vector< ShapeRoot > &	getDefaultLandmarks ()
void	setDefaultLandmarkExtractor (const MapBuilderRequest &mapreq)
MapBuilderRequest *	getDefaultLandmarkExtractor () const
MotionManager::MC_ID	getWalk_id () const
MotionManager::MC_ID	getWaypointwalk_id () const
void	setupLandmarkExtractor ()
void	setAgent (const Point &loc, AngTwoPi heading, bool quiet=false, bool updateWaypoint=true)
	Pilot's setAgent is called by its RunMotionModel behavior. Or user can call directly.
virtual void	setup ()
	This is called by start() when it should setup the network of subnodes (if any).
Static Public Member Functions
static PilotVerbosity_t	getVerbosity ()
static void	setVerbosity (PilotVerbosity_t v)
static std::vector< ShapeRoot >	calculateVisibleLandmarks (const DualCoding::Point &currentLocation, AngTwoPi currentOrientation, AngTwoPi maxTurn, const std::vector< DualCoding::ShapeRoot > &possibleLandmarks)
	Find the landmarks that should be visible from current location.
static bool	isLandmarkViewable (const DualCoding::ShapeRoot &selectedLandmark, const DualCoding::Point &currentLocation, AngTwoPi currentOrientation, AngTwoPi maxTurn)
static bool	defaultLandmarkExitTest ()
	Returns true if we have enough landmarks to localize.
Static Public Attributes
static const PilotVerbosity_t	PVstart = 1<<0
static const PilotVerbosity_t	PVevents = 1<<1
static const PilotVerbosity_t	PVexecute = 1<<2
static const PilotVerbosity_t	PVsuccess = 1<<3
static const PilotVerbosity_t	PVfailure = 1<<4
static const PilotVerbosity_t	PVcomplete = 1<<5
static const PilotVerbosity_t	PVabort = 1<<6
static const PilotVerbosity_t	PVpop = 1<<7
static const PilotVerbosity_t	PVqueued = 1<<8
static const PilotVerbosity_t	PVcollision = 1<<9
static const PilotVerbosity_t	PVnavStep = 1<<10
static const PilotVerbosity_t	PVshowPath = 1<<11
Private Member Functions
	Pilot (const Pilot &)
	copy constructor; do not call
Pilot &	operator= (const Pilot &)
	assignment operator; do not call
Private Attributes
std::queue< PilotRequest * >	requests
	Queue of Pilot requests.
PilotRequest *	curReq
unsigned int	idCounter
	Pilot request counter for assigning a unique id.
MotionManager::MC_ID	walk_id
MotionManager::MC_ID	waypointwalk_id
Dispatch *	dispatch_
std::vector< ShapeRoot >	defaultLandmarks
MapBuilderRequest *	defaultLandmarkExtractor
Point	initPos
AngTwoPi	initHead
PilotRequest	planReq
NavigationPlan	plan
AngTwoPi	maxTurn
bool	pushingObj
Static Private Attributes
static PilotVerbosity_t	verbosity

Member Typedef Documentation

typedef unsigned int DualCoding::Pilot::PilotVerbosity_t

Definition at line 92 of file Pilot.h.

Constructor & Destructor Documentation

DualCoding::Pilot::Pilot ( const std::string & nodename = "Pilot" )

Definition at line 90 of file Pilot.h.

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

copy constructor; do not call

Member Function Documentation

static std::vector<ShapeRoot> DualCoding::Pilot::calculateVisibleLandmarks	(	const DualCoding::Point &	currentLocation,
		AngTwoPi	currentOrientation,
		AngTwoPi	maxTurn,
		const std::vector< DualCoding::ShapeRoot > &	possibleLandmarks
	)			`[static]`

Find the landmarks that should be visible from current location.

void DualCoding::Pilot::cancelVelocity ( )

forces completion of a setVelocity operation

void DualCoding::Pilot::changeVelocity	(	float	vx,
		float	vy = `0`,
		float	va = `0`
	)

Change velocity for walk or setVelocity requests.

void DualCoding::Pilot::computeParticleBounds	(	float	widthIncr = `0`,
		float	heightIncr = `0`
	)

Compute bounds for random particle distribution based on world shapes.

static bool DualCoding::Pilot::defaultLandmarkExitTest ( ) [static]

Returns true if we have enough landmarks to localize.

This could be much more sophisticated: taking landmark geometry into account so we don't settle for two adjacent landmarks if a more widely dispersed set is available.

virtual void DualCoding::Pilot::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.

virtual void DualCoding::Pilot::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.

virtual void DualCoding::Pilot::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.

void DualCoding::Pilot::executeRequest ( )

unsigned int DualCoding::Pilot::executeRequest	(	BehaviorBase *	requestingBehavior,
		const PilotRequest &	req
	)

MapBuilderRequest* DualCoding::Pilot::getDefaultLandmarkExtractor ( ) const

Definition at line 143 of file Pilot.h.

const std::vector<ShapeRoot>& DualCoding::Pilot::getDefaultLandmarks ( )

Definition at line 140 of file Pilot.h.

static PilotVerbosity_t DualCoding::Pilot::getVerbosity ( ) [static]

Definition at line 106 of file Pilot.h.

MotionManager::MC_ID DualCoding::Pilot::getWalk_id ( ) const

Definition at line 145 of file Pilot.h.

Referenced by DualCoding::Pilot::PushObjectMachine::FetchObj::doStart(), DualCoding::Pilot::PushObjectMachine::WalkForward::doStart(), DualCoding::Pilot::PushObjectMachine::WalkBackward::doStart(), DualCoding::Pilot::ExecutePlan::Turn::doStart(), DualCoding::Pilot::ExecutePlan::Walk::doStart(), DualCoding::Pilot::SetVelocityMachine::setup(), and DualCoding::Pilot::WalkMachine::setup().

MotionManager::MC_ID DualCoding::Pilot::getWaypointwalk_id ( ) const

Definition at line 146 of file Pilot.h.

Referenced by DualCoding::Pilot::PushObjectMachine::AdjustPush::doStart(), DualCoding::Pilot::WaypointWalkMachine::setup(), and DualCoding::Pilot::LocalizationUtility::setup().

static bool DualCoding::Pilot::isLandmarkViewable	(	const DualCoding::ShapeRoot &	selectedLandmark,
		const DualCoding::Point &	currentLocation,
		AngTwoPi	currentOrientation,
		AngTwoPi	maxTurn
	)			`[static]`