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PilotRequest Class Reference

#include <PilotRequest.h>

List of all members.


Detailed Description

Request to the Pilot for motion or navigation.

Definition at line 14 of file PilotRequest.h.


Public Types

enum  PilotRequestType_t {
  walk, waypointWalk, visualSearch, gotoShape,
  gotoTarget, pushTarget, creepToShape
}

Public Member Functions

 PilotRequest (PilotRequestType_t _type)
 Constructor.
 PilotRequest (const PilotRequest &req)
PilotRequestType_t getRequestType () const

Public Attributes

PilotRequestType_t requestType
 Type of pilot request.
float dx
 Forward walk distance in mm.
float dy
 Walking strafe distance in mm.
float da
 Walking rotation distance in radians.
MapBuilderRequestmapBuilderRequest
 MapBuilderRequest to be used for visual search.
MapBuilderRequest *(* mapBuilderRequestFn )()
 function to return a dynamically-constructed MapBuilderRequest which Pilot will delete
AngSignPi searchRotationAngle
 Angle to rotate body to continue a visual search.
bool(* exitTest )()
 If true, terminate search and post a completion event.
ShapeRoot targetShape
 Shape to walk to.
bool avoidCliffs
 If true, use chest IR to avoid walking off a cliff.
int cliffThreshold
 Maximum tolerable distance to the ground (millimeters).
bool avoidObstacles
 If true, use head IR sensors to avoid obstacles.
int obstacleThreshold
 Minimum tolerable distance to an obstacle (millimeters).
LookoutTrackRequesttrackRequest
 Lookout request for tracking objects while walking.
int localizationInterval
 Time in msec between localization attempts; will execute the mapBuilderRequest, then if localizeTest is true, will call particle filter.
bool(* localizationTest )()
 If true, local map contains good enough data to try to localize.
float localizationDisplayParticles
 How many particles to display (number or percentage).
int localizationDisplayInterval
 Time in msec between calls to displayParticles().
float safeDistanceAroundTarget
 The distance to stay away from the target while circling.
AngSignPi subtendAngle
 The angle in which to subtend the target while circling.
AngSignPi approachAngle
 The angle in which to approach the desired position around the target.
Point positionRelativeToTarget
 The desired position around the target, relative to the target.
AngSignPi angleToPushTarget
 The angle in which to push the target.
void(* buildTargetParamsFn )(bool *buildFrontLeft, bool *buildFrontRight, bool *buildBackLeft, bool *buildBackRight, bool *lookAtCentroid, int *maxRetries)
 function to return the parameters to build the target
MapBuilderRequest *(* buildTargetMapBuilderRequestFn )(Point point)
 function to return a dynamically-constructed MapBuilderRequest, given a point to look at, which BuildTarget will use to build the target

Private Member Functions

PilotRequestoperator= (const PilotRequest &req)
 don't call this

Private Attributes

unsigned int requestID

Friends

class Pilot

Member Enumeration Documentation

Enumerator:
walk 
waypointWalk 
visualSearch 
gotoShape 
gotoTarget 
pushTarget 
creepToShape 

Definition at line 18 of file PilotRequest.h.


Constructor & Destructor Documentation

Constructor.

Definition at line 7 of file PilotRequest.cc.

PilotRequest ( const PilotRequest req  ) 

Definition at line 20 of file PilotRequest.cc.


Member Function Documentation

PilotRequestType_t getRequestType (  )  const [inline]

Definition at line 33 of file PilotRequest.h.

Referenced by Pilot::Dispatch::DoStart().

PilotRequest& operator= ( const PilotRequest req  )  [private]

don't call this


Friends And Related Function Documentation

friend class Pilot [friend]

Definition at line 15 of file PilotRequest.h.


Member Data Documentation

Type of pilot request.

Definition at line 35 of file PilotRequest.h.

Referenced by PilotRequest::getRequestType().

float dx

Forward walk distance in mm.

Definition at line 36 of file PilotRequest.h.

Referenced by Pilot::Walk::DoStart().

float dy

Walking strafe distance in mm.

Definition at line 37 of file PilotRequest.h.

Referenced by Pilot::Walk::DoStart().

float da

Walking rotation distance in radians.

Definition at line 38 of file PilotRequest.h.

Referenced by Pilot::Walk::DoStart().

function to return a dynamically-constructed MapBuilderRequest which Pilot will delete

Referenced by Pilot::CreepToShapeBuildMap::DoStart().

Angle to rotate body to continue a visual search.

Definition at line 41 of file PilotRequest.h.

Referenced by Pilot::VisualSearchWalk::DoStart(), Pilot::VisualSearchHaveMap::DoStart(), and Pilot::VisualSearch::DoStart().

bool(* exitTest)()

If true, terminate search and post a completion event.

Referenced by Pilot::VisualSearchHaveMap::DoStart(), and Pilot::VisualSearch::DoStart().

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

Definition at line 44 of file PilotRequest.h.

Referenced by Pilot::Dispatch::DoStart().

Maximum tolerable distance to the ground (millimeters).

Definition at line 45 of file PilotRequest.h.

If true, use head IR sensors to avoid obstacles.

Definition at line 46 of file PilotRequest.h.

Referenced by Pilot::Dispatch::DoStart().

Minimum tolerable distance to an obstacle (millimeters).

Definition at line 47 of file PilotRequest.h.

Lookout request for tracking objects while walking.

Definition at line 48 of file PilotRequest.h.

Referenced by Pilot::Dispatch::DoStart(), and Pilot::requestComplete().

Time in msec between localization attempts; will execute the mapBuilderRequest, then if localizeTest is true, will call particle filter.

Definition at line 49 of file PilotRequest.h.

Referenced by Pilot::Localize::DoStart(), and Pilot::Dispatch::DoStart().

If true, local map contains good enough data to try to localize.

Referenced by Pilot::CreepToShapeLocalize::DoStart(), and Pilot::Localize::processMap().

How many particles to display (number or percentage).

Definition at line 51 of file PilotRequest.h.

Referenced by Pilot::Localize::processMap().

Time in msec between calls to displayParticles().

Definition at line 52 of file PilotRequest.h.

Referenced by Pilot::Dispatch::DoStart(), and Pilot::Localize::processMap().

The distance to stay away from the target while circling.

Definition at line 54 of file PilotRequest.h.

Referenced by Pilot::GotoTarget::getPointAtAngle().

AngSignPi subtendAngle

The angle in which to subtend the target while circling.

Definition at line 55 of file PilotRequest.h.

Referenced by Pilot::GotoTarget::getNextWaypoint().

AngSignPi approachAngle

The angle in which to approach the desired position around the target.

Definition at line 56 of file PilotRequest.h.

Referenced by Pilot::GotoTarget::getNextWaypoint().

The desired position around the target, relative to the target.

Definition at line 57 of file PilotRequest.h.

Referenced by Pilot::PushTarget::DoStart(), Pilot::GotoTarget::getNextWaypoint(), and Pilot::GotoTarget::getPointAtAngle().

AngSignPi angleToPushTarget

The angle in which to push the target.

Definition at line 58 of file PilotRequest.h.

Referenced by Pilot::PushTarget::DoStart().

void(* buildTargetParamsFn)(bool *buildFrontLeft, bool *buildFrontRight, bool *buildBackLeft, bool *buildBackRight, bool *lookAtCentroid, int *maxRetries)

function to return the parameters to build the target

Referenced by Pilot::PushTarget::DoStart(), and Pilot::GotoTarget::DoStart().

function to return a dynamically-constructed MapBuilderRequest, given a point to look at, which BuildTarget will use to build the target

Referenced by Pilot::BuildTarget::generateMapBuilderRequest().

unsigned int requestID [private]

Definition at line 63 of file PilotRequest.h.

Referenced by Pilot::executeRequest(), and Pilot::requestComplete().


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

DualCoding 4.0
Generated Thu Nov 22 00:54:01 2007 by Doxygen 1.5.4