Kodu::KoduAgent Class Reference

#include <KoduAgent.h>

---

Detailed Description

Definition at line 28 of file KoduAgent.h.

List of all members.

Public Member Functions
	KoduAgent ()
	Constructor.
	~KoduAgent ()
	Destructor.
KoduAgent &	operator= (const KoduAgent &)
	Assignment operator.
const std::vector< Point > &	getGazePoints () const
bool	isExecutingManipAction () const
	================================ Grasper functions ================================ ///
bool	isHoldingAnObject () const
	States whether or not the agent is (supposed to be) holding something.
void	manipulationComplete ()
	Signals the robot has completed the manipulation task (sets a particular set of flags).
void	setIsExecutingManipActionFlag (bool bval=true)
	Sets the "(agent) is attempting grab" flag.
void	setTargetInGripperFlag (bool bval=true)
	Sets the "target object is in gripper" flag.
void	setWantsToDropObjectFlag (bool bval=true)
	Signals that the agent wants to drop something.
void	setWantsToGrabObjectFlag (bool bval=true)
	Signals that the agent wants to grab something.
void	signalDropActionStart ()
	Signals the robot wants to drop an object (sets a particular set of flags).
void	signalGrabActionStart ()
	Signals the robot wants to grab an object (sets a particular set of flags).
bool	wantsToDropObject () const
	States whether or not the agent wants to drop an object.
bool	wantsToGrabObject () const
	States whether or not the agent has an object it wants to grab.
void	setWantsToGiveObjectFlag (bool bval=true)
	================================ Give functions =================================== ///
void	signalGiveActionStart ()
	Signals the robot wants to give an objec to another robot (sets flags).
void	setIsReceiving (bool bval=true)
	Signals whether the agent is currently receiving.
bool	wantsToGiveObject () const
	States whether or not the agent wants to give an object to another agent.
bool	bodyIsInMotion () const
	================================ Motion functions ================================ ///
bool	isExecutingMotionAction () const
	Checks if the agent is walking (returns value of "agent is walking" flag).
bool	needsToLocalize () const
	Checks if the agent needs to localize.
void	motionComplete ()
	Signals the robot has completed a motion command.
void	signalMotionActionStart ()
	Signals the robot is executing a motion command.
void	setIsExecutingMotionActionFlag (bool bval=true)
	Sets the 'agent is executing motion command' flag (default value = true).
void	setMotionCommand (const MotionCommand &)
	Sets the current motion command.
KoduPage *	getCurrentPage () const
	================================ Page functions ================================ ///
KoduPage *	getPage (unsigned int pageNumber) const
	Returns the specified page (using it's page number).
KoduPage *	getPageInPos (unsigned int pageIndex) const
	Returns the specified page (using it's location in the vector--(PAGE# - 1)).
bool	hasNewPageNumber () const
	Checks if the agent wants to switch pages.
bool	hasNewScoreChanges () const
	================================ Scoring functions ================================ ///
bool	hasTextToSay () const
	================================ Speech functions ================================ ///
bool	hasSoundsToPlay () const
	================================ Sound functions ================================ ///
Public Attributes
ShapeRoot	gripperObject
	The object the agent is holding/will be holding.
bool	agentIsExecutingManipAction
	(flag) States if the agent is attempting to grab an object
bool	agentWantsToDropObject
	(flag) States if the agent wants to drop an object
bool	agentWantsToGrabObject
	(flag) States if the agent wants to grab an object
bool	targetObjectIsInGripper
	(flag) States if the target object is in the gripper
bool	agentIsExecutingMotionAction
MotionCommand	currMotionCmd
	The current motion command.
float	distanceTravelled
	The accumulated distance the robot has travelled.
bool	agentWantsToGiveObject
	(flag) States if the agent wants to give an object
Shape< AgentData >	giveTargetObject
bool	agentIsReceiving
int	agentReceivingFrom
bool	gotGiveReady
bool	gotGiveInformation
float	giveAngleToTurn
std::string	giveObjType
std::vector< KoduPage * >	pages
	The vector of pages containing kode.
unsigned int	currPageIndex
	The page (index) currently being executed.
unsigned int	newReqdPage
	Stores the page number the agent wants to switch to.
std::queue< PerceptualTaskBase * >	ptasks
	A queue containing all the perceptual tasks.
std::queue< ScoreChange >	scoreQueue
	The queue of score operations and their value.
std::string	stringToSpeak
	The string the agent wants to speak.
std::queue< std::string >	playQueue
	The queue of sound files the agent wants to play.
Static Public Attributes
static const float	kLocalizationDistanceThreshold = 1000.0f
	The mininum travelling distance (including turns) to consider performing localization.
Private Member Functions
void	generateGazePoints ()
	================================ Gaze functions ================================ ///
	DISALLOW_COPY (KoduAgent)
Private Attributes
std::vector< Point >	agentGazePoints
	egocentric (relative to the robot's body) points to look at

---

Constructor & Destructor Documentation

Kodu::KoduAgent::KoduAgent

(

)

Constructor.

Definition at line 18 of file KoduAgent.cc.

Kodu::KoduAgent::~KoduAgent

(

)

Destructor.

Definition at line 48 of file KoduAgent.cc.

---

Member Function Documentation

bool Kodu::KoduAgent::bodyIsInMotion

(

)

const

================================ Motion functions ================================ ///

================================ Motion functions ================================ /// Checks if the robot's body is moving (during motion action the body may stop)

Definition at line 169 of file KoduAgent.cc.

Referenced by Kodu::VisualNavErrMonTask::canExecute(), and Kodu::VisualGripperMonitorTask::canExecute().

Kodu::KoduAgent::DISALLOW_COPY

(

KoduAgent

)

[private]

void Kodu::KoduAgent::generateGazePoints

(

)

[private]

================================ Gaze functions ================================ ///

================================ Gaze functions ================================ /// Generates the agent's gaze points (the points in space to search for objects)

Definition at line 80 of file KoduAgent.cc.

Referenced by KoduAgent().

KoduPage * Kodu::KoduAgent::getCurrentPage

(

)

const

================================ Page functions ================================ ///

================================ Page functions ================================ /// Returns the page currently being evaluated (determined by current page index variable)

Definition at line 222 of file KoduAgent.cc.

Referenced by KoduInterpreter::KoduConditionEvaluator::resetChildRulesWithOnceEnabled().

const std::vector< Point > & Kodu::KoduAgent::getGazePoints

(

)

const

================================ Gazing functions ================================ /// Returns the gaze points

Definition at line 101 of file KoduAgent.cc.

Referenced by KoduInterpreter::InitializeAgent::LookAround::doStart().

KoduPage * Kodu::KoduAgent::getPage

(

unsigned int

pageNumber

)

const

Returns the specified page (using it's page number).

Definition at line 226 of file KoduAgent.cc.

KoduPage * Kodu::KoduAgent::getPageInPos

(

unsigned int

pageIndex

)

const

Returns the specified page (using it's location in the vector--(PAGE# - 1)).

Definition at line 230 of file KoduAgent.cc.

Referenced by getPage().

bool Kodu::KoduAgent::hasNewPageNumber

(

)

const

Checks if the agent wants to switch pages.

Definition at line 239 of file KoduAgent.cc.

Referenced by KoduInterpreter::KoduActionRunner::doStart().

bool Kodu::KoduAgent::hasNewScoreChanges

(

)

const

================================ Scoring functions ================================ ///

================================ Scoring functions ================================ /// Checks if the agent has a string to speak

Definition at line 217 of file KoduAgent.cc.

Referenced by KoduInterpreter::KoduActionRunner::doStart().

bool Kodu::KoduAgent::hasSoundsToPlay

(

)

const

================================ Sound functions ================================ ///

================================ Sound functions ================================ /// Checks if the agent has sounds to play

Definition at line 249 of file KoduAgent.cc.

Referenced by KoduInterpreter::PlayActuator::doStart(), KoduInterpreter::PlayActionRunner::PlayEnd::doStart(), and KoduInterpreter::KoduActionRunner::doStart().

bool Kodu::KoduAgent::hasTextToSay

(

)

const

================================ Speech functions ================================ ///

================================ Speech functions ================================ /// Checks if the agent has a string to speak

Definition at line 244 of file KoduAgent.cc.

Referenced by KoduInterpreter::KoduActionRunner::doStart().

bool Kodu::KoduAgent::isExecutingManipAction

(

)

const

================================ Grasper functions ================================ ///

================================ Grasper functions ================================ /// States if the agent is attempting to grab an object

Definition at line 106 of file KoduAgent.cc.

Referenced by KoduInterpreter::KoduActionRunner::doStart().

bool Kodu::KoduAgent::isExecutingMotionAction

(

)

const

Checks if the agent is walking (returns value of "agent is walking" flag).

Definition at line 173 of file KoduAgent.cc.

Referenced by Kodu::VisualNavErrMonTask::canExecute(), Kodu::VisualLocalizationTask::canExecute(), Kodu::VisualBumpDetectionTask::canExecute(), Kodu::VisualGripperMonitorTask::canExecute(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::PauseInterpretation::doStart(), and Kodu::VisualNavErrMonTask::taskIsComplete().

bool Kodu::KoduAgent::isHoldingAnObject

(

)

const

States whether or not the agent is (supposed to be) holding something.

Definition at line 110 of file KoduAgent.cc.

Referenced by Kodu::VisualGripperMonitorTask::canExecute(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::CreateFinalApproachCommand::doStart(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteGoToShapeRequest::doStart(), and Kodu::VisualGripperMonitorTask::taskIsComplete().

void Kodu::KoduAgent::manipulationComplete

(

)

Signals the robot has completed the manipulation task (sets a particular set of flags).

Definition at line 114 of file KoduAgent.cc.

Referenced by KoduInterpreter::GiveActionRunner::GiveActionSend::doStart(), KoduInterpreter::GrabActionRunner::GrabActionEnd::doStart(), and KoduInterpreter::DropActionRunner::DropActionEnd::doStart().

void Kodu::KoduAgent::motionComplete

(

)

Signals the robot has completed a motion command.

Definition at line 181 of file KoduAgent.cc.

Referenced by KoduInterpreter::MotionActionRunner::MotionEnd::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::PauseInterpretation::doStart(), and KoduInterpreter::MotionActionRunner::stop().

bool Kodu::KoduAgent::needsToLocalize

(

)

const

Checks if the agent needs to localize.

Definition at line 177 of file KoduAgent.cc.

KoduAgent & Kodu::KoduAgent::operator=

(

const KoduAgent &

kAgent

)

Assignment operator.

Definition at line 54 of file KoduAgent.cc.

void Kodu::KoduAgent::setIsExecutingManipActionFlag

(

bool

bval = true

)

Sets the "(agent) is attempting grab" flag.

Definition at line 128 of file KoduAgent.cc.

Referenced by manipulationComplete(), setIsReceiving(), signalDropActionStart(), signalGiveActionStart(), and signalGrabActionStart().

void Kodu::KoduAgent::setIsExecutingMotionActionFlag

(

bool

bval = true

)

Sets the 'agent is executing motion command' flag (default value = true).

Definition at line 191 of file KoduAgent.cc.

Referenced by KoduInterpreter::GiveActionRunner::GiveActionSend::doStart(), motionComplete(), setIsReceiving(), signalGiveActionStart(), and signalMotionActionStart().

void Kodu::KoduAgent::setIsReceiving

(

bool

bval = true

)

Signals whether the agent is currently receiving.

Definition at line 204 of file KoduAgent.cc.

Referenced by KoduInterpreter::KoduEventListener::doEvent(), and KoduInterpreter::ReceiveActionRunner::ReceiveActionEnd::doStart().

void Kodu::KoduAgent::setMotionCommand

(

const MotionCommand &

kCmd

)

Sets the current motion command.

Definition at line 195 of file KoduAgent.cc.

void Kodu::KoduAgent::setTargetInGripperFlag

(

bool

bval = true

)

Sets the "target object is in gripper" flag.

Definition at line 132 of file KoduAgent.cc.

Referenced by manipulationComplete().

void Kodu::KoduAgent::setWantsToDropObjectFlag

(

bool

bval = true

)

Signals that the agent wants to drop something.

Definition at line 136 of file KoduAgent.cc.

Referenced by manipulationComplete(), and signalDropActionStart().

void Kodu::KoduAgent::setWantsToGiveObjectFlag

(

bool

bval = true

)

================================ Give functions =================================== ///

================================ Give functions ================================== /// Signals that the agent wants to give something

Definition at line 200 of file KoduAgent.cc.

Referenced by KoduInterpreter::GiveActionRunner::GiveActionSend::doStart(), and signalGiveActionStart().

void Kodu::KoduAgent::setWantsToGrabObjectFlag

(

bool

bval = true

)

Signals that the agent wants to grab something.

Definition at line 140 of file KoduAgent.cc.

Referenced by manipulationComplete(), and signalGrabActionStart().

void Kodu::KoduAgent::signalDropActionStart

(

)

Signals the robot wants to drop an object (sets a particular set of flags).

Definition at line 144 of file KoduAgent.cc.

void Kodu::KoduAgent::signalGiveActionStart

(

)

Signals the robot wants to give an objec to another robot (sets flags).

Definition at line 154 of file KoduAgent.cc.

void Kodu::KoduAgent::signalGrabActionStart

(

)

Signals the robot wants to grab an object (sets a particular set of flags).

Definition at line 149 of file KoduAgent.cc.

void Kodu::KoduAgent::signalMotionActionStart

(

)

Signals the robot is executing a motion command.

Definition at line 187 of file KoduAgent.cc.

Referenced by KoduInterpreter::MotionActionRunner::MotionStart::doStart().

bool Kodu::KoduAgent::wantsToDropObject

(

)

const

States whether or not the agent wants to drop an object.

Definition at line 160 of file KoduAgent.cc.

Referenced by KoduInterpreter::KoduActionRunner::doStart().

bool Kodu::KoduAgent::wantsToGiveObject

(

)

const

States whether or not the agent wants to give an object to another agent.

Definition at line 211 of file KoduAgent.cc.

Referenced by KoduInterpreter::KoduActionRunner::doStart().

bool Kodu::KoduAgent::wantsToGrabObject

(

)

const

States whether or not the agent has an object it wants to grab.

Definition at line 164 of file KoduAgent.cc.

Referenced by KoduInterpreter::KoduActionRunner::doStart().

---

Member Data Documentation

std::vector<Point> Kodu::KoduAgent::agentGazePoints [private]

egocentric (relative to the robot's body) points to look at

Definition at line 190 of file KoduAgent.h.

Referenced by generateGazePoints(), getGazePoints(), and operator=().

bool Kodu::KoduAgent::agentIsExecutingManipAction

(flag) States if the agent is attempting to grab an object

Definition at line 148 of file KoduAgent.h.

Referenced by isExecutingManipAction(), operator=(), and setIsExecutingManipActionFlag().

bool Kodu::KoduAgent::agentIsExecutingMotionAction

Definition at line 156 of file KoduAgent.h.

Referenced by isExecutingMotionAction(), operator=(), and setIsExecutingMotionActionFlag().

bool Kodu::KoduAgent::agentIsReceiving

Definition at line 163 of file KoduAgent.h.

Referenced by KoduInterpreter::KoduEventListener::doEvent(), KoduInterpreter::KoduActionRunner::doStart(), and setIsReceiving().

int Kodu::KoduAgent::agentReceivingFrom

Definition at line 164 of file KoduAgent.h.

Referenced by KoduInterpreter::KoduEventListener::doEvent(), and KoduInterpreter::ReceiveActionRunner::ReceiveActionStart::doStart().

bool Kodu::KoduAgent::agentWantsToDropObject

(flag) States if the agent wants to drop an object

Definition at line 149 of file KoduAgent.h.

Referenced by manipulationComplete(), operator=(), setWantsToDropObjectFlag(), and wantsToDropObject().

bool Kodu::KoduAgent::agentWantsToGiveObject

(flag) States if the agent wants to give an object

Definition at line 161 of file KoduAgent.h.

Referenced by KoduInterpreter::KoduEventListener::doEvent(), setWantsToGiveObjectFlag(), and wantsToGiveObject().

bool Kodu::KoduAgent::agentWantsToGrabObject

(flag) States if the agent wants to grab an object

Definition at line 150 of file KoduAgent.h.

Referenced by operator=(), setWantsToGrabObjectFlag(), and wantsToGrabObject().

MotionCommand Kodu::KoduAgent::currMotionCmd

The current motion command.

Definition at line 157 of file KoduAgent.h.

Referenced by KoduInterpreter::NotificationMonitor::doEvent(), KoduInterpreter::MotionActionRunner::MotionEnd::doStart(), KoduInterpreter::MotionActionRunner::MotionStart::doStart(), KoduInterpreter::KoduActionRunner::doStart(), motionComplete(), operator=(), and setMotionCommand().

unsigned int Kodu::KoduAgent::currPageIndex

The page (index) currently being executed.

Definition at line 172 of file KoduAgent.h.

Referenced by KoduInterpreter::PageSwitchActionRunner::SwitchToNewPage::doStart(), getCurrentPage(), and operator=().

float Kodu::KoduAgent::distanceTravelled

The accumulated distance the robot has travelled.

Definition at line 158 of file KoduAgent.h.

Referenced by KoduInterpreter::WalkMonitor::doStart(), needsToLocalize(), and operator=().

float Kodu::KoduAgent::giveAngleToTurn

Definition at line 167 of file KoduAgent.h.

Referenced by KoduInterpreter::KoduEventListener::doEvent(), and KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::Rotate::doStart().

std::string Kodu::KoduAgent::giveObjType

Definition at line 168 of file KoduAgent.h.

Referenced by KoduInterpreter::KoduEventListener::doEvent().

Shape<AgentData> Kodu::KoduAgent::giveTargetObject

Definition at line 162 of file KoduAgent.h.

Referenced by KoduInterpreter::KoduEventListener::doEvent(), KoduInterpreter::GiveActionRunner::GiveActionSend::doStart(), KoduInterpreter::GiveActionRunner::GiveActionStart::doStart(), and KoduInterpreter::GiveActionRunner::PositionBody::Rotate::doStart().

bool Kodu::KoduAgent::gotGiveInformation

Definition at line 166 of file KoduAgent.h.

Referenced by KoduInterpreter::ReceiveActionRunner::ReceiveActionStart::doEvent(), and KoduInterpreter::KoduEventListener::doEvent().

bool Kodu::KoduAgent::gotGiveReady

Definition at line 165 of file KoduAgent.h.

Referenced by KoduInterpreter::GiveActionRunner::GiveActionStart::doEvent(), KoduInterpreter::KoduEventListener::doEvent(), and KoduInterpreter::GiveActionRunner::GiveActionStart::doStart().

ShapeRoot Kodu::KoduAgent::gripperObject

The object the agent is holding/will be holding.

Definition at line 147 of file KoduAgent.h.

Referenced by Kodu::VisualBumpDetectionTask::canExecute(), KoduInterpreter::GiveActionRunner::GiveActionSend::doStart(), KoduInterpreter::GrabActionRunner::GrabActionEnd::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::CreateGripMonTask::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::RepositionGripperObject::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::FindObjectAgain::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::RepositionBody::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::GrabObject::doStart(), KoduInterpreter::GrabActionRunner::PrepareBody::ReverseBody::doStart(), KoduInterpreter::GrabActionRunner::PrepareBody::FaceObject::doStart(), KoduInterpreter::GrabActionRunner::GrabActionStart::IsObjectNear::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::RepositionObject::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::LookForObjectAgain::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::RecordAprilTagPos::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::GetTagLocation::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::RepositionGripperObject::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::FindObjectAgain::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::RepositionBody::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::SetGrasperTarget::doStart(), Kodu::KoduConditionSee::evaluate(), Kodu::KoduConditionGot::evaluate(), and operator=().

const float Kodu::KoduAgent::kLocalizationDistanceThreshold = 1000.0f [static]

The mininum travelling distance (including turns) to consider performing localization.

================================ Static initializations ================================ ///

Definition at line 155 of file KoduAgent.h.

Referenced by needsToLocalize().

unsigned int Kodu::KoduAgent::newReqdPage

Stores the page number the agent wants to switch to.

Definition at line 173 of file KoduAgent.h.

Referenced by KoduInterpreter::PageSwitchActionRunner::SwitchToNewPage::doStart(), hasNewPageNumber(), and operator=().

std::vector<KoduPage*> Kodu::KoduAgent::pages

The vector of pages containing kode.

Definition at line 171 of file KoduAgent.h.

Referenced by KoduInterpreter::PageSwitchActionRunner::SwitchToNewPage::doStart(), KoduInterpreter::InitializeAgent::ParseKode::doStart(), getCurrentPage(), getPageInPos(), operator=(), and ~KoduAgent().

std::queue<std::string> Kodu::KoduAgent::playQueue

The queue of sound files the agent wants to play.

Definition at line 185 of file KoduAgent.h.

Referenced by KoduInterpreter::PlayActuator::doStart(), KoduInterpreter::PlayActionRunner::PlayStart::doStart(), hasSoundsToPlay(), and operator=().

std::queue<PerceptualTaskBase*> Kodu::KoduAgent::ptasks

A queue containing all the perceptual tasks.

Definition at line 176 of file KoduAgent.h.

Referenced by KoduInterpreter::PageSwitchActionRunner::SwitchToNewPage::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::CreateGripMonTask::doStart(), KoduInterpreter::DropActionRunner::DropActionStart::doStart(), KoduInterpreter::PerceptualMultiplexor::MultiplexorStart::doStart(), KoduInterpreter::PerceptualMultiplexor::MultiplexorStart::getNextExecutableTask(), operator=(), and ~KoduAgent().

std::queue<ScoreChange> Kodu::KoduAgent::scoreQueue

The queue of score operations and their value.

Definition at line 179 of file KoduAgent.h.

Referenced by KoduInterpreter::ScoreActuator::doStart(), hasNewScoreChanges(), and operator=().

std::string Kodu::KoduAgent::stringToSpeak

The string the agent wants to speak.

Definition at line 182 of file KoduAgent.h.

Referenced by KoduInterpreter::CompleteSayActuator::doStart(), KoduInterpreter::SayActuator::doStart(), hasTextToSay(), operator=(), and ~KoduAgent().

bool Kodu::KoduAgent::targetObjectIsInGripper

(flag) States if the target object is in the gripper

Definition at line 151 of file KoduAgent.h.

Referenced by Kodu::KoduConditionGot::evaluate(), isHoldingAnObject(), operator=(), and setTargetInGripperFlag().

---

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

• KoduAgent.h
• KoduAgent.cc