DualCoding::PilotRequest Class Reference

Request to the Pilot for motion or navigation. More...

#include <PilotRequest.h>

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Detailed Description

Request to the Pilot for motion or navigation.

Definition at line 17 of file PilotRequest.h.

List of all members.

Public Member Functions
	PilotRequest (PilotTypes::RequestType_t _type=PilotTypes::noRequest)
	Constructor.
	PilotRequest (const PilotRequest &req)
PilotTypes::RequestType_t	getRequestType () const
PilotRequest &	operator= (const PilotRequest &req)
bool	operator== (const PilotRequest &other) const
Public Attributes
PilotTypes::RequestType_t	requestType
	Type of pilot request.
float	dx
	Forward distance in mm (negative means go backward).
float	dy
	Sideways distance in mm (positive to the left).
float	da
	Rotation angle in radians (positive is counterclockwise).
float	forwardSpeed
	Translation speed in mm/sec for dx or dy.
float	strafeSpeed
	Sideways translational speed used for setVelocity.
float	turnSpeed
	Rotational speed in radians/sec for da.
std::string	walkParameters
PilotTypes::CollisionAction_t	collisionAction
	What to do about collisions.
WaypointList	waypointList
	Waypoint list for waypointWalk.
bool	clearWaypoints
	If true, the waypointList will be cleared before appending new waypoints.
MapBuilderRequest *	landmarkExtractor
	pointer to MapBuilderRequest used to find landmarks; will be deleted by the Pilot
bool(*	landmarkExitTest )()
	Should return true if there are enough landmarks to localize.
MapBuilderRequest *	searchObjectExtractor
	MapBuilderRequest to be used for visual search.
bool(*	searchExitTest )()
	If true, terminate search and post a completion event.
AngSignPi	searchRotationAngle
	Angle to rotate body to continue a visual search.
ShapeRoot	targetShape
	Shape to walk to.
fmat::Column< 3 >	baseOffset
	Point in the base reference frame to bring to the target location.
AngTwoPi	targetHeading
	Heading on which we want to arrive at the target.
float	gateLength
	Distance between the gate point and the target point when targetHeading or baseOffset used.
ShapeRoot	objectShape
	Object we want to push to the target.
MapBuilderRequest *	objectExtractor
	Pointer to MapbuilderRequest for finding the object to be pushed; will be deleted by the Pilot.
ShapeRoot(*	objectMatcher )(const ShapeRoot &)
	Finds the localShS object matching objectShape in worldShS.
MapBuilderRequest *	acquireExtractor
	Pointer to MapBuilderRequest to check if we have acquired the object.
bool(*	acquireTest )(const ShapeRoot &)
	Returns true if vision confirms that we have successfully acquired the object (e.g., for pushing).
bool	allowBackwardMotion
	True if the robot should avoid large turns by walking backwards if distance is short.
float	maxBackwardDistance
	Maximum allowable distance to walk backward instead of turning around.
void(*	pathEditor )(std::vector< PilotTypes::NodeValue_t > *pathResult, PilotRequest &req)
void(*	planEditor )(PilotTypes::NavigationPlan &plan, PilotRequest &req)
float	obstacleInflation
	Inflation in mm of obstacle bounding shapes for path planning.
bool	avoidCliffs
	If true, use IR to avoid walking off a cliff.
int	cliffThreshold
	Maximum tolerable distance to the ground (millimeters).
bool	avoidObstacles
	If true, use rangefinder sensors to dynamically avoid obstacles (not yet implemented).
int	obstacleThreshold
	Minimum tolerable rangefinder distance to an obstacle (millimeters).
LookoutTrackRequest *	trackRequest
	Lookout request for tracking objects while walking.
float	displayParticles
	How many particles to display (number or percentage) as a single Graphics shape.
float	displayIndividualParticles
	How many particles to display (number or percentage) as LocalizationParticle shapes.
bool	displayPath
	If true, the planned path is displayed in the shape space.
bool	displayTree
	If true, the RRT search tree is displayed in the world shape space.
bool	displayObstacles
	If true, the obstacle boundaries used by the collision checker are displayed in the world shape space.
bool	autoDisplayObstacles
	If true, the obstacle boundaries used by the collision checker are displayed in the world shape space automatically if path planning fails.
unsigned int	maxRRTIterations
	Maximum number of iterations for path planner RRT search.
bool	executePath
	If true, the Pilot will execute the path it has planned; if false, it plans but does not execute.
std::vector < DualCoding::ShapeRoot >	landmarks
	Vector of specific landmarks to use for localization, overriding the default.
BehaviorBase *	requestingBehavior
	Used to construct a PilotEvent to notify the requesting node of the results of this Pilot operation.
Private Attributes
unsigned int	requestID
Friends
class	Pilot

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Constructor & Destructor Documentation

DualCoding::PilotRequest::PilotRequest

(

PilotTypes::RequestType_t

_type = PilotTypes::noRequest

)

Constructor.

Definition at line 8 of file PilotRequest.cc.

DualCoding::PilotRequest::PilotRequest

(

const PilotRequest &

req

)

Definition at line 32 of file PilotRequest.cc.

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Member Function Documentation

PilotTypes::RequestType_t DualCoding::PilotRequest::getRequestType

(

)

const

Definition at line 27 of file PilotRequest.h.

PilotRequest & DualCoding::PilotRequest::operator=

(

const PilotRequest &

req

)

Definition at line 62 of file PilotRequest.cc.

bool DualCoding::PilotRequest::operator==

(

const PilotRequest &

other

)

const

Definition at line 97 of file PilotRequest.h.

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Friends And Related Function Documentation

friend class Pilot [friend]

Definition at line 18 of file PilotRequest.h.

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Member Data Documentation

MapBuilderRequest* DualCoding::PilotRequest::acquireExtractor

Pointer to MapBuilderRequest to check if we have acquired the object.

Definition at line 57 of file PilotRequest.h.

Referenced by operator=().

bool(* DualCoding::PilotRequest::acquireTest)(const ShapeRoot &)

Returns true if vision confirms that we have successfully acquired the object (e.g., for pushing).

Definition at line 58 of file PilotRequest.h.

Referenced by operator=().

bool DualCoding::PilotRequest::allowBackwardMotion

True if the robot should avoid large turns by walking backwards if distance is short.

Definition at line 60 of file PilotRequest.h.

Referenced by KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteGoToShapeRequest::doStart(), Grasper::DoBodyTransport::doStart(), and operator=().

bool DualCoding::PilotRequest::autoDisplayObstacles

If true, the obstacle boundaries used by the collision checker are displayed in the world shape space automatically if path planning fails.

Definition at line 78 of file PilotRequest.h.

Referenced by operator=().

bool DualCoding::PilotRequest::avoidCliffs

If true, use IR to avoid walking off a cliff.

Definition at line 67 of file PilotRequest.h.

Referenced by operator=().

bool DualCoding::PilotRequest::avoidObstacles

If true, use rangefinder sensors to dynamically avoid obstacles (not yet implemented).

Definition at line 69 of file PilotRequest.h.

Referenced by operator=().

fmat::Column<3> DualCoding::PilotRequest::baseOffset

Point in the base reference frame to bring to the target location.

Definition at line 50 of file PilotRequest.h.

Referenced by KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteGoToShapeRequest::doStart(), and operator=().

bool DualCoding::PilotRequest::clearWaypoints

If true, the waypointList will be cleared before appending new waypoints.

Definition at line 40 of file PilotRequest.h.

Referenced by operator=().

int DualCoding::PilotRequest::cliffThreshold

Maximum tolerable distance to the ground (millimeters).

Definition at line 68 of file PilotRequest.h.

Referenced by operator=().

PilotTypes::CollisionAction_t DualCoding::PilotRequest::collisionAction

What to do about collisions.

Definition at line 37 of file PilotRequest.h.

Referenced by DualCoding::Pilot::PushObjectMachine::AdjustPush::doStart(), DualCoding::Pilot::PushObjectMachine::FetchObj::doStart(), DualCoding::Pilot::PushObjectMachine::SetUpExecute2::doStart(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteGoToShapeRequest::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::RepositionBody::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::RepositionBody::doStart(), and operator=().

float DualCoding::PilotRequest::da

Rotation angle in radians (positive is counterclockwise).

Definition at line 32 of file PilotRequest.h.

Referenced by KoduInterpreter::GrabActionRunner::PrepareBody::FaceObject::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::FaceTarget::doStart(), Grasper::DoBodyApproach2::doStart(), operator=(), and Turn::preStart().

float DualCoding::PilotRequest::displayIndividualParticles

How many particles to display (number or percentage) as LocalizationParticle shapes.

Definition at line 74 of file PilotRequest.h.

Referenced by operator=().

bool DualCoding::PilotRequest::displayObstacles

If true, the obstacle boundaries used by the collision checker are displayed in the world shape space.

Definition at line 77 of file PilotRequest.h.

Referenced by operator=().

float DualCoding::PilotRequest::displayParticles

How many particles to display (number or percentage) as a single Graphics shape.

Definition at line 73 of file PilotRequest.h.

Referenced by operator=().

bool DualCoding::PilotRequest::displayPath

If true, the planned path is displayed in the shape space.

Definition at line 75 of file PilotRequest.h.

Referenced by operator=().

bool DualCoding::PilotRequest::displayTree

If true, the RRT search tree is displayed in the world shape space.

Definition at line 76 of file PilotRequest.h.

Referenced by operator=().

float DualCoding::PilotRequest::dx

Forward distance in mm (negative means go backward).

Definition at line 30 of file PilotRequest.h.

Referenced by KoduInterpreter::GiveActionRunner::Backup::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::RepositionBody::doStart(), KoduInterpreter::GrabActionRunner::PrepareBody::ReverseBody::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::ReverseBody::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::RepositionBody::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::Reverse::doStart(), Grasper::DoWithdraw::doStart(), Grasper::DoBodyApproach3::doStart(), operator=(), and WalkForward::preStart().

float DualCoding::PilotRequest::dy

Sideways distance in mm (positive to the left).

Definition at line 31 of file PilotRequest.h.

Referenced by operator=(), and WalkSideways::preStart().

bool DualCoding::PilotRequest::executePath

If true, the Pilot will execute the path it has planned; if false, it plans but does not execute.

Definition at line 80 of file PilotRequest.h.

Referenced by operator=().

float DualCoding::PilotRequest::forwardSpeed

Translation speed in mm/sec for dx or dy.

Definition at line 33 of file PilotRequest.h.

Referenced by DualCoding::Pilot::PushObjectMachine::SetUpExecute2::doStart(), DualCoding::Pilot::ExecutePlan::Walk::doStart(), Grasper::DoBodyApproach3::doStart(), and operator=().

float DualCoding::PilotRequest::gateLength

Distance between the gate point and the target point when targetHeading or baseOffset used.

Definition at line 52 of file PilotRequest.h.

Referenced by operator=().

bool(* DualCoding::PilotRequest::landmarkExitTest)()

Should return true if there are enough landmarks to localize.

Definition at line 43 of file PilotRequest.h.

Referenced by DualCoding::Pilot::LocalizationUtility::CheckEnoughLandmarks::doStart(), and operator=().

MapBuilderRequest* DualCoding::PilotRequest::landmarkExtractor

pointer to MapBuilderRequest used to find landmarks; will be deleted by the Pilot

Definition at line 42 of file PilotRequest.h.

Referenced by DualCoding::Pilot::LocalizationUtility::TakeInitialPicture::doStart(), Kodu::VisualLocalizationTask::getPilotRequest(), and operator=().

std::vector<DualCoding::ShapeRoot> DualCoding::PilotRequest::landmarks

Vector of specific landmarks to use for localization, overriding the default.

Definition at line 81 of file PilotRequest.h.

Referenced by operator=().

float DualCoding::PilotRequest::maxBackwardDistance

Maximum allowable distance to walk backward instead of turning around.

Definition at line 61 of file PilotRequest.h.

Referenced by operator=().

unsigned int DualCoding::PilotRequest::maxRRTIterations

Maximum number of iterations for path planner RRT search.

Definition at line 79 of file PilotRequest.h.

Referenced by Grasper::PlanBodyTransport::doStart(), Grasper::PlanBodyApproach::doStart(), operator=(), and Grasper::planBodyPath().

MapBuilderRequest* DualCoding::PilotRequest::objectExtractor

Pointer to MapbuilderRequest for finding the object to be pushed; will be deleted by the Pilot.

Definition at line 55 of file PilotRequest.h.

Referenced by operator=().

ShapeRoot(* DualCoding::PilotRequest::objectMatcher)(const ShapeRoot &)

Finds the localShS object matching objectShape in worldShS.

Definition at line 56 of file PilotRequest.h.

Referenced by DualCoding::Pilot::PushObjectMachine::FetchObj::doStart(), and operator=().

ShapeRoot DualCoding::PilotRequest::objectShape

Object we want to push to the target.

Definition at line 54 of file PilotRequest.h.

Referenced by DualCoding::Pilot::PushObjectMachine::FetchObj::doStart(), DualCoding::Pilot::PushObjectMachine::ChoosePathObjToDest::doStart(), DualCoding::Pilot::LookForTarget::doStart(), DualCoding::Pilot::LookForObject::doStart(), and operator=().

float DualCoding::PilotRequest::obstacleInflation

Inflation in mm of obstacle bounding shapes for path planning.

Definition at line 66 of file PilotRequest.h.

Referenced by operator=(), and Grasper::planBodyPath().

int DualCoding::PilotRequest::obstacleThreshold

Minimum tolerable rangefinder distance to an obstacle (millimeters).

Definition at line 70 of file PilotRequest.h.

Referenced by operator=().

void(* DualCoding::PilotRequest::pathEditor)(std::vector< PilotTypes::NodeValue_t > *pathResult, PilotRequest &req)

Definition at line 63 of file PilotRequest.h.

Referenced by operator=().

void(* DualCoding::PilotRequest::planEditor)(PilotTypes::NavigationPlan &plan, PilotRequest &req)

Definition at line 64 of file PilotRequest.h.

Referenced by operator=().

unsigned int DualCoding::PilotRequest::requestID [private]

Definition at line 100 of file PilotRequest.h.

BehaviorBase* DualCoding::PilotRequest::requestingBehavior

Used to construct a PilotEvent to notify the requesting node of the results of this Pilot operation.

Definition at line 93 of file PilotRequest.h.

PilotTypes::RequestType_t DualCoding::PilotRequest::requestType

Type of pilot request.

Definition at line 29 of file PilotRequest.h.

Referenced by KoduInterpreter::PerceptualMultiplexor::PilotTaskRunner::ExecutePilotTask::doStart(), getRequestType(), and operator=().

bool(* DualCoding::PilotRequest::searchExitTest)()

If true, terminate search and post a completion event.

Definition at line 46 of file PilotRequest.h.

Referenced by DualCoding::Pilot::VisualSearchMachine::Check::doStart(), DualCoding::Pilot::VisualSearchMachine::Search::doStart(), and operator=().

MapBuilderRequest* DualCoding::PilotRequest::searchObjectExtractor

MapBuilderRequest to be used for visual search.

Definition at line 45 of file PilotRequest.h.

Referenced by DualCoding::Pilot::VisualSearchMachine::Search::doStart(), and operator=().

AngSignPi DualCoding::PilotRequest::searchRotationAngle

Angle to rotate body to continue a visual search.

Definition at line 47 of file PilotRequest.h.

Referenced by DualCoding::Pilot::VisualSearchMachine::Rotate::doStart(), DualCoding::Pilot::VisualSearchMachine::Check::doStart(), and operator=().

float DualCoding::PilotRequest::strafeSpeed

Sideways translational speed used for setVelocity.

Definition at line 34 of file PilotRequest.h.

Referenced by operator=().

AngTwoPi DualCoding::PilotRequest::targetHeading

Heading on which we want to arrive at the target.

Definition at line 51 of file PilotRequest.h.

Referenced by Grasper::DoBodyTransport::doStart(), Grasper::DoBodyApproach::doStart(), and operator=().

ShapeRoot DualCoding::PilotRequest::targetShape

Shape to walk to.

Definition at line 49 of file PilotRequest.h.

Referenced by KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteGoToShapeRequest::doStart(), Grasper::DoBodyTransport::doStart(), Grasper::DoBodyApproach::doStart(), and operator=().

LookoutTrackRequest* DualCoding::PilotRequest::trackRequest

Lookout request for tracking objects while walking.

Definition at line 71 of file PilotRequest.h.

Referenced by operator=().

float DualCoding::PilotRequest::turnSpeed

Rotational speed in radians/sec for da.

Definition at line 35 of file PilotRequest.h.

Referenced by DualCoding::Pilot::PushObjectMachine::SetUpExecute2::doStart(), DualCoding::Pilot::ExecutePlan::Turn::doStart(), Grasper::DoBodyTransport::doStart(), Grasper::DoBodyApproach2::doStart(), and operator=().

std::string DualCoding::PilotRequest::walkParameters

Definition at line 36 of file PilotRequest.h.

Referenced by operator=().

WaypointList DualCoding::PilotRequest::waypointList

Waypoint list for waypointWalk.

Definition at line 39 of file PilotRequest.h.

Referenced by operator=().

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

• PilotRequest.h
• PilotRequest.cc