DualCoding::PilotTypes Namespace Reference
Classes |
| struct | NavigationStep |
| struct | NavigationPlan |
| | Stores and indexes into a sequence of actions to complete a navigation task.
|
Typedefs |
typedef
ShapeSpacePlannerXYTheta::NodeType_t | NodeType_t |
| typedef NodeType_t::NodeValue_t | NodeValue_t |
Enumerations |
| enum | RequestType_t {
localize,
walk,
waypointWalk,
setVelocity,
goToShape,
pushObject,
visualSearch,
setOdometry,
noRequest,
numRequestTypes
} |
| | What we're asking the Pilot to do.
More...
|
| enum | ErrorType_t {
noError = 0,
someError,
invalidRequest,
abort,
cantLocalize,
startCollides,
endCollides,
noPath,
noSpace,
collisionDetected,
searchFailed,
numErrorTypes
} |
| | What error the Pilot is going to return.
More...
|
| enum | CollisionAction_t { collisionIgnore = 0,
collisionReport,
collisionStop,
collisionReplan
} |
| | Options for handling collisions.
More...
|
| enum | NavigationStepType_t {
localizeStep,
travelStep,
turnStep,
preTravelStep,
headingStep,
turnObjStep,
acquireObjStep
} |
Functions |
| std::ostream & | operator<< (std::ostream &os, const NavigationStep &step) |
| std::ostream & | operator<< (std::ostream &os, const NavigationPlan &plan) |
Variables |
| const char * | RequestTypeNames [numRequestTypes] |
| const char * | ErrorTypeNames [numErrorTypes] |
| static const unsigned int | invalid_Pilot_ID = -1U |
Typedef Documentation
Enumeration Type Documentation
Options for handling collisions.
- Enumerator:
| collisionIgnore |
Don't check for collisions.
|
| collisionReport |
Report the collision in a PilotEvent, but continue.
|
| collisionStop |
Stop the robot and terminate the request.
|
| collisionReplan |
Try to recover and proceed.
|
Definition at line 51 of file PilotTypes.h.
What error the Pilot is going to return.
- Enumerator:
| noError |
Request completed without error.
|
| someError |
Generic error will match anything but noError in a PiotTrans.
|
| invalidRequest |
Ill-formed PilotRequest, such as mssing parameters.
|
| abort |
Request was aborted.
|
| cantLocalize |
Localization failed.
|
| startCollides |
Start state would be in collision.
|
| endCollides |
End state would be in collision.
|
| noPath |
Path planning failed.
|
| noSpace |
Not enough space to maneuver.
|
| collisionDetected |
The robot hit something.
|
| searchFailed |
Visual search gave up.
|
| numErrorTypes |
|
Definition at line 33 of file PilotTypes.h.
- Enumerator:
| localizeStep |
localize during path following
|
| travelStep |
travel forward during path following
|
| turnStep |
turn to face next point on path
|
| preTravelStep |
adjust heading before travel forward
|
| headingStep |
turn to specific heading (at end of plan)
|
| turnObjStep |
turn while pushing an object
|
| acquireObjStep |
move to acquire contact with object
|
Definition at line 58 of file PilotTypes.h.
What we're asking the Pilot to do.
- Enumerator:
| localize |
Localize using the available landmarks.
|
| walk |
Walk the distance specified by dx / dy / da.
|
| waypointWalk |
Execute the trajectory in waypointlist.
|
| setVelocity |
Set velocity for continuous walking.
|
| goToShape |
Plan a path to targetShape.
|
| pushObject |
Push objectSjape to targetShape.
|
| visualSearch |
Turn until search predicate returns true.
|
| setOdometry |
Turn head and set the visual odometry settings.
|
| noRequest |
Dummy case.
|
| numRequestTypes |
|
Definition at line 17 of file PilotTypes.h.
Function Documentation
| std::ostream& DualCoding::PilotTypes::operator<< |
( |
std::ostream & |
os, |
|
|
const NavigationPlan & |
plan | |
|
) |
| | |
| std::ostream& DualCoding::PilotTypes::operator<< |
( |
std::ostream & |
os, |
|
|
const NavigationStep & |
step | |
|
) |
| | |
Variable Documentation
|
