Kodu Namespace Reference

Classes
class	KoduState
class	LiteralGenerator
class	NumericGenerator
class	ObjectKeeper
class	ScoreChange
class	ScoreKeeper
	Score Keeper. More...
class	KoduAgent
class	KoduPage
	Kodu Page. More...
class	KoduRule
	Kodu Rule. More...
class	KoduWorld
class	KoduObject
	Kodu Object class. More...
class	ParsedPage
class	ParsedPhrase
	Phrase class. More...
class	ParsedRule
class	Parser
class	TokenBase
class	MatchesObjectTagInGripper
	A functor that will check if the object is still in the robot's gripper. More...
class	VisualGripperMonitorTask
class	PerceptualTaskBase
class	VisualBumpDetectionTask
class	VisualLocalizationTask
class	VisualNavErrMonTask
class	PosOrientState
class	KoduAction
	Kodu Action (derived from Kodu Behavior). More...
class	KoduActionDoNothing
class	KoduActionDrop
	Kodu Action Drop class (derived from Kodu Action). More...
class	KoduActionGive
	Kodu Action Give class (derived from Kodu Action). More...
class	KoduActionGrab
	Kodu Action Grab (derived from Kodu Action). More...
class	MotionCommand
class	KoduActionMotion
	Kodu Action Motion (derived from Kodu Action). More...
class	KoduActionPageSwitch
	Kodu Action Page Switch class (derived from Kodu Action). More...
class	KoduActionPlay
	Kodu Action Play class (derived from Kodu Action). More...
class	KoduActionSay
	Kodu Action Say class (derived from Kodu Speech Action). More...
class	KoduActionScore
	Kodu Action Score (derived from Kodu Action). More...
class	KoduCondition
	Kodu Condition (derived from Kodu Primitive). More...
class	KoduConditionAlways
	Kodu Condition Always (derived from Kodu Condition). More...
class	KoduConditionBump
class	KoduConditionGamepad
class	KoduConditionGot
class	KoduConditionHear
class	KoduConditionScored
	Kodu Condition Scored (derived from Kodu Condition). More...
class	KoduConditionSee
class	KoduConditionTimer
class	KoduPrimitive
	Kodu Primitive. More...
class	HasAprilTagID
class	IsMatchForTargetObject
class	IsNotWorldShape
class	IsStar
class	IsShapeOfType
class	IsNotExcludedShape
class	ClearSelfShape
Typedefs
typedef unsigned long	Timestamp_t
	The timestamp.
Enumerations
enum	PerceptualTaskType_t { PT_VIS_BUMP_DETECTION = 0, PT_GRIPPER_VIS_MONITOR, PT_VIS_LOCALIZATION, PT_VIS_NAV_ERR_MON }
enum	Direction_t { DT_EAST = 0, DT_NORTH = 1L << 1, DT_SOUTH = 1L << 2, DT_WEST = 1L << 3 }
	Specifies the four main directions (north, east, south, and west). More...
enum	SearchLocation_t { SL_UNRESTRICTED = 0, SL_BEHIND = 1L << 1, SL_IN_FRONT = 1L << 2, SL_TO_LEFT = 1L << 3, SL_TO_RIGHT = 1L << 4, SL_CLOSE_BY = 1L << 5, SL_FAR_AWAY = 1L << 6 }
	Specifies what region(s) the agent should focus on when using conditions such as see and bump. More...
Functions
	TOKEN_SUPER_CLASS (std::string)
	Token<std::string>
	TOKEN_SUPER_CLASS (float)
	Token<float>
	TOKEN_DERIVED_CLASS (KeywordToken, Token< std::string >, std::string)
	KeywordToken.
	TOKEN_DERIVED_CLASS (NumericToken, Token< float >, float)
	NumericToken.
	TOKEN_DERIVED_CLASS (StringToken, Token< std::string >, std::string)
	StringToken.
std::ostream &	operator<< (std::ostream &os, const MotionCommand &cmd)
float	bearingFromAgentToPoint (const Point &)
	Calculate the bearing from the agent's position and orientation to a specified point.
float	bearingFromAgentToObject (const ShapeRoot &)
	Calcaulate the bearing from the agent's position and orientation to a specified shape.
float	distanceFromAgentToPoint (const Point &)
	Calculates the distance between the agent's and a specified point's centroids.
float	distanceFromAgentToObject (const ShapeRoot &)
	Calculates the distance between the agent's and a specified shape's centroids.
float	distanceInBetweenAgentAndObject (const ShapeRoot &)
	Calculates the length of the open space in between the agent and a specified shape.
float	objectRadius (const ShapeRoot &)
	Calculates the perceived radius of a target shape.
ShapeRoot	getClosestObject (const std::vector< ShapeRoot > &)
	Returns the closest shape/object to the agent.
ShapeRoot	getClosestObjectToPoint (const std::vector< ShapeRoot > &, const Point &)
	Returns the closest object to a specified point (ASSUMES point and shapes are in SAME shape space).
std::vector< ShapeRoot >	getObjectsLocated (const std::vector< ShapeRoot > &, SearchLocation_t)
	Returns the objects located in the specified region(s) relative to the agent orientation.
std::vector< ShapeRoot >	getMatchingObjects (const std::vector< ShapeRoot > &kObjects, const std::string &kColor, const std::string &kType)
	Returns the objects that are a specified color.
ShapeRoot	getClosestObjectMatching (const std::string &color, const std::string &type, SearchLocation_t location, const ShapeRoot &kExcludedShape=ShapeRoot())
	Returns the closest object that matches the specified criteria (excluding the specified shape).
Direction_t	operator\| (Direction_t dt1, Direction_t dt2)
	Logical OR operation.
Direction_t	operator& (Direction_t dt1, Direction_t dt2)
	Logical AND operation.
SearchLocation_t	operator\| (SearchLocation_t rs1, SearchLocation_t rs2)
	Logical OR operation.
SearchLocation_t	operator\|= (SearchLocation_t rs1, SearchLocation_t rs2)
	Logicial OR Equals operation.
SearchLocation_t	operator& (SearchLocation_t rs1, SearchLocation_t rs2)
	Logical AND operation.
	PERCEPTION_SEARCH (LeftOf)
	PERCEPTION_SEARCH (RightOf)
	PERCEPTION_SEARCH (InFront)
	PERCEPTION_SEARCH (Behind)
	PERCEPTION_SEARCH (CloseBy)
	PERCEPTION_SEARCH (FarAwayFrom)

Detailed Description

NAME: KODU ACTION SAY TYPE: ACTION KODU EQUIVALENT: SAY DESCRIPTION: This class is used to submit a string to speak each time this action fires.

DATA DESCRIPTION:

Speech strings: a vector of strings to speak.
Say request: holds the string that will be spoken when this action fires.
Order:

NAME: KODU ACTION SCORE TYPE: ACTION KODU EQUIVALENT: SCORE DESCRIPTION: This class is used to add, subtract, and set a particular score using a key (score designator).

NAME: KODU CONDITION SCORED TYPE: CONDITION KODU EQUIVALENT: SCORED DESCRIPTION: This class is used to monitor the global score board.

NAME: KODU CONDITION TIMER TYPE: CONDITION KODU EQUIVALENT: TIMER DESCRIPTION:

Typedef Documentation

typedef unsigned long Kodu::Timestamp_t

The timestamp.

Definition at line 15 of file ScoreKeeper.h.

Enumeration Type Documentation

enum Kodu::Direction_t

Specifies the four main directions (north, east, south, and west).

Enumerator:

DT_EAST
DT_NORTH
DT_SOUTH
DT_WEST

Definition at line 21 of file PerceptionSearch.h.

enum Kodu::PerceptualTaskType_t

Enumerator:

PT_VIS_BUMP_DETECTION
PT_GRIPPER_VIS_MONITOR
PT_VIS_LOCALIZATION
PT_VIS_NAV_ERR_MON

Definition at line 19 of file PerceptualTaskBase.h.

enum Kodu::SearchLocation_t

Specifies what region(s) the agent should focus on when using conditions such as see and bump.

Enumerator:

SL_UNRESTRICTED
SL_BEHIND
SL_IN_FRONT
SL_TO_LEFT
SL_TO_RIGHT
SL_CLOSE_BY
SL_FAR_AWAY

Definition at line 41 of file PerceptionSearch.h.

Function Documentation

float Kodu::bearingFromAgentToObject ( const ShapeRoot & kShape )

Calcaulate the bearing from the agent's position and orientation to a specified shape.

Referenced by KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::CreateFinalApproachCommand::doStart(), KoduInterpreter::GrabActionRunner::PrepareBody::FaceObject::doStart(), and KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::FaceTarget::doStart().

float Kodu::bearingFromAgentToPoint ( const Point & kPoint )

Calculate the bearing from the agent's position and orientation to a specified point.

Referenced by Kodu::VisualNavErrMonTask::getMapBuilderRequest(), and Kodu::VisualLocalizationTask::getPilotRequest().

float Kodu::distanceFromAgentToObject ( const ShapeRoot & kShape )

Calculates the distance between the agent's and a specified shape's centroids.

Referenced by KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::FindMotionTarget::doStart(), and KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteGoToShapeRequest::doStart().

float Kodu::distanceFromAgentToPoint ( const Point & kPoint )

Calculates the distance between the agent's and a specified point's centroids.

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

float Kodu::distanceInBetweenAgentAndObject ( const ShapeRoot & kShape )

Calculates the length of the open space in between the agent and a specified shape.

Referenced by Kodu::KoduConditionBump::agentIsNearMatchingObject(), Kodu::VisualNavErrMonTask::canExecute(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::CreateFinalApproachCommand::doStart(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteGoToShapeRequest::doStart(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::CheckMotionType::doStart(), KoduInterpreter::GrabActionRunner::PrepareBody::ReverseBody::doStart(), KoduInterpreter::GrabActionRunner::GrabActionStart::IsObjectNear::doStart(), Kodu::KoduActionMotion::getMotionCommand(), and Kodu::VisualNavErrMonTask::taskIsComplete().

ShapeRoot Kodu::getClosestObject ( const std::vector< ShapeRoot > & kObjects )

Returns the closest shape/object to the agent.

ShapeRoot Kodu::getClosestObjectMatching	(	const std::string &	color,
		const std::string &	type,
		SearchLocation_t	location,
		const ShapeRoot &	kExcludedShape
	)

Returns the closest object that matches the specified criteria (excluding the specified shape).

Referenced by Kodu::KoduConditionBump::agentIsNearMatchingObject(), and Kodu::KoduConditionSee::evaluate().

ShapeRoot Kodu::getClosestObjectToPoint	(	const std::vector< ShapeRoot > &	kShapes,
		const Point &	kComparisonPoint
	)

Returns the closest object to a specified point (ASSUMES point and shapes are in SAME shape space).

Referenced by KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::RepositionGripperObject::doStart(), KoduInterpreter::DropActionRunner::ExecuteDrop::RepositionReleasedObject::RepositionObject::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::RepositionGripperObject::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForItemRecovery::SetGrasperTarget::doStart(), and Kodu::VisualBumpDetectionTask::examineTaskResults().

std::vector< ShapeRoot > Kodu::getMatchingObjects	(	const std::vector< ShapeRoot > &	kObjects,
		const std::string &	kColor,
		const std::string &	kType
	)

Returns the objects that are a specified color.

std::vector< ShapeRoot > Kodu::getObjectsLocated	(	const std::vector< ShapeRoot > &	kObjects,
		SearchLocation_t	location
	)

Returns the objects located in the specified region(s) relative to the agent orientation.

float Kodu::objectRadius ( const ShapeRoot & kShape )

Calculates the perceived radius of a target shape.

Referenced by KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::CreateFinalApproachCommand::doStart(), KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::FindMotionTarget::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::FindObjectAgain::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::PrepareForAnotherGrasp::RepositionBody::doStart(), KoduInterpreter::GrabActionRunner::ExecuteGrabAction::VerifyObjectWasGrabbed::VerifyObjectInGripper::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::FindObjectAgain::doStart(), KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::PrepareForAnotherGrasp::RepositionBody::doStart(), and KoduInterpreter::PerceptualMultiplexor::FailureRecovery::ObjectManipRecovery::VerifyObjectWasGrabbed::VerifyObjectInGripper::doStart().

SearchLocation_t Kodu::operator&	(	SearchLocation_t	rs1,
		SearchLocation_t	rs2
	)

Logical AND operation.

Definition at line 65 of file PerceptionSearch.h.

Direction_t Kodu::operator&	(	Direction_t	dt1,
		Direction_t	dt2
	)

Logical AND operation.

Definition at line 36 of file PerceptionSearch.h.

std::ostream & Kodu::operator<<	(	std::ostream &	os,
		const MotionCommand &	cmd
	)

SearchLocation_t Kodu::operator\|	(	SearchLocation_t	rs1,
		SearchLocation_t	rs2
	)

Logical OR operation.

Definition at line 53 of file PerceptionSearch.h.

Direction_t Kodu::operator\|	(	Direction_t	dt1,
		Direction_t	dt2
	)

Logical OR operation.

Definition at line 30 of file PerceptionSearch.h.

SearchLocation_t Kodu::operator\|=	(	SearchLocation_t	rs1,
		SearchLocation_t	rs2
	)

Logicial OR Equals operation.

Definition at line 59 of file PerceptionSearch.h.

Kodu::PERCEPTION_SEARCH ( FarAwayFrom )

Kodu::PERCEPTION_SEARCH ( CloseBy )

Kodu::PERCEPTION_SEARCH ( Behind )

Kodu::PERCEPTION_SEARCH ( InFront )

Kodu::PERCEPTION_SEARCH ( RightOf )

Kodu::PERCEPTION_SEARCH ( LeftOf )

Kodu::TOKEN_DERIVED_CLASS	(	StringToken	,
		Token< std::string >	,
		std::string
	)

StringToken.

Kodu::TOKEN_DERIVED_CLASS	(	NumericToken	,
		Token< float >	,
		float
	)

NumericToken.

Kodu::TOKEN_DERIVED_CLASS	(	KeywordToken	,
		Token< std::string >	,
		std::string
	)

KeywordToken.

Kodu::TOKEN_SUPER_CLASS ( float )

Token<float>

Kodu::TOKEN_SUPER_CLASS ( std::string )

Token<std::string>

Kodu Namespace Reference

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation