Kodu::KoduWorld Class Reference

#include <KoduWorld.h>

Detailed Description

Definition at line 24 of file KoduWorld.h.

Public Member Functions
	KoduWorld ()
	Constructor.
	~KoduWorld ()
	Destructor.
void	applyGlobalScoreChanges (std::queue< ScoreChange > &)
int	getTagIdForShape (int)
bool	shapeTagPairExists (int) const
	Checks if a shapt-tag pair exists.
void	pairShapeWithTag (int, int)
	Pairs an april tag with a particular shape.
const Point &	getNorthStarLocation () const
const std::map< int, Point > &	getStarConstellation () const
	Returns the "stars" seen and their location.
const Shape< PolygonData > &	getWorldBoundsPolygon () const
	Returns the world bounds polygon.
void	generateWorldBoundsPolygon ()
	Creates the world bounds polygon.
void	setStarConstellation (const std::vector< ShapeRoot > &)
	Sets the "stars" seen and their allocentric locations.
Static Public Member Functions
static int	getScoreValue (const std::string &)
	Returns the value of a particular score (identified by the designator).
Public Attributes
KoduAgent	thisAgent
	Represents the agent that the Kodu Behavior is running on.
Private Member Functions
	DISALLOW_COPY_ASSIGN (KoduWorld)
	Disallows the copy constructor and assignment operator.
Private Attributes
std::map< int, int >	shapeToTagMap
	Helps the robot discern between multiple objects of same type and color when near them.
std::map< int, Point >	starConstellation
	A map of the april tag (used as stars) and their allocentric positions.
Shape< PolygonData >	worldBoundsPolygon
	The world bounds polygon.
const float	worldSideLength
	The length of the world's sides; all sides are the same length making the world a square.
Static Private Attributes
static ScoreKeeper	globalScoreKeeper
	Local copy of the Score Keeper.

Constructor & Destructor Documentation

Kodu::KoduWorld::KoduWorld ( )

Constructor.

Definition at line 16 of file KoduWorld.cc.

Kodu::KoduWorld::~KoduWorld ( )

Destructor.

Definition at line 25 of file KoduWorld.cc.

Member Function Documentation

void Kodu::KoduWorld::applyGlobalScoreChanges ( std::queue< ScoreChange > & queue )

================================ Scoring functions ================================ /// Applies the scores changes to the global score keeper

Definition at line 30 of file KoduWorld.cc.

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

Kodu::KoduWorld::DISALLOW_COPY_ASSIGN ( KoduWorld ) [private]

Disallows the copy constructor and assignment operator.

void Kodu::KoduWorld::generateWorldBoundsPolygon ( )

Creates the world bounds polygon.

Definition at line 93 of file KoduWorld.cc.

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

const Point& Kodu::KoduWorld::getNorthStarLocation ( ) const

================================ World Bounds and North Star functions =========== /// Returns the world North Star

int Kodu::KoduWorld::getScoreValue ( const std::string & kDesignator ) [static]

Returns the value of a particular score (identified by the designator).

Definition at line 55 of file KoduWorld.cc.

Referenced by Kodu::KoduConditionScored::evaluate().

const std::map< int, Point > & Kodu::KoduWorld::getStarConstellation ( ) const

Returns the "stars" seen and their location.

Definition at line 76 of file KoduWorld.cc.

Referenced by KoduInterpreter::DropActionRunner::ExecuteDrop::LocalizeAgent::doStart().

int Kodu::KoduWorld::getTagIdForShape ( int worldShapeId )

================================ Shape-Tag Pair functions ========================= /// Returns the april tag id corresponding to a particular shape id

Definition at line 59 of file KoduWorld.cc.

Referenced by KoduInterpreter::MotionActionRunner::ExecuteMotionAction::CheckMotionType::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::VerifyObjectInGripper::doStart(), KoduInterpreter::GrabActionRunner::GrabActionStart::GetTagId::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::GetTagLocation::doStart(), and KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::VerifyObjectInGripper::doStart().

const Shape< PolygonData > & Kodu::KoduWorld::getWorldBoundsPolygon ( ) const

Returns the world bounds polygon.

Definition at line 80 of file KoduWorld.cc.

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