PilotRequest.cc

Go to the documentation of this file.
00001 #include <limits>
00002 
00003 #include "Crew/PilotRequest.h"
00004 #include "Motion/WaypointList.h"
00005 
00006 namespace DualCoding {
00007 
00008 PilotRequest::PilotRequest(PilotTypes::RequestType_t _type) :
00009   requestType(_type), 
00010   dx(0), dy(0), da(0), forwardSpeed(0), strafeSpeed(0), turnSpeed(0), walkParameters(""),
00011   collisionAction(PilotTypes::collisionStop),
00012   waypointList(), clearWaypoints(false),
00013   landmarkExtractor(NULL), landmarkExitTest(NULL),
00014   searchObjectExtractor(NULL),  searchExitTest(NULL), searchRotationAngle(0),
00015   targetShape(), targetHeading(std::numeric_limits<float>::quiet_NaN()),
00016   objectShape(), objectExtractor(NULL), objectMatcher(NULL),
00017   obstacleInflation(3*25.4f),
00018   avoidCliffs(false), cliffThreshold(200), avoidObstacles(false), obstacleThreshold(100),
00019   trackRequest(NULL), 
00020   displayParticles(50), displayIndividualParticles(0), displayPath(true), displayTree(false), displayObstacles(false),
00021   maxRRTIterations(4000), executePath(true), landmarks(),
00022   /*
00023   safeDistanceAroundTarget(300), subtendAngle(0.2f), approachAngle(0.1f),
00024   positionRelativeToTarget(200, 0, 0), angleToPushTarget((direction_t)M_PI),
00025   buildTargetParamsFn(NULL), buildTargetMapBuilderRequestFn(NULL),
00026   */
00027   requestingBehavior(NULL), requestID(PilotTypes::invalid_Pilot_ID) {}
00028 
00029 PilotRequest::PilotRequest(const PilotRequest &req) :
00030   requestType(req.requestType),
00031   dx(req.dx), dy(req.dy), da(req.da), 
00032   forwardSpeed(req.forwardSpeed), strafeSpeed(req.strafeSpeed), turnSpeed(req.turnSpeed),
00033   walkParameters(req.walkParameters),
00034   collisionAction(req.collisionAction),
00035   waypointList(req.waypointList), clearWaypoints(req.clearWaypoints),
00036   landmarkExtractor(req.landmarkExtractor), landmarkExitTest(req.landmarkExitTest),
00037   searchObjectExtractor(req.searchObjectExtractor), searchExitTest(req.searchExitTest),
00038   searchRotationAngle(req.searchRotationAngle),
00039   targetShape(req.targetShape), targetHeading(req.targetHeading),
00040   objectShape(req.objectShape), objectExtractor(req.objectExtractor), objectMatcher(req.objectMatcher),
00041   obstacleInflation(req.obstacleInflation),
00042   avoidCliffs(req.avoidCliffs), cliffThreshold(req.cliffThreshold),
00043   avoidObstacles(req.avoidObstacles), obstacleThreshold(req.obstacleThreshold),
00044   trackRequest(req.trackRequest), 
00045   displayParticles(req.displayParticles), displayIndividualParticles(req.displayIndividualParticles),
00046   displayPath(req.displayPath), displayTree(req.displayTree), displayObstacles(req.displayObstacles),
00047   maxRRTIterations(req.maxRRTIterations), executePath(req.executePath),landmarks(req.landmarks),
00048   /*
00049   safeDistanceAroundTarget(req.safeDistanceAroundTarget), subtendAngle(req.subtendAngle), approachAngle(req.approachAngle),
00050   positionRelativeToTarget(req.positionRelativeToTarget), angleToPushTarget(req.angleToPushTarget),
00051   buildTargetParamsFn(req.buildTargetParamsFn), buildTargetMapBuilderRequestFn(req.buildTargetMapBuilderRequestFn),
00052   */
00053   requestingBehavior(req.requestingBehavior), requestID(req.requestID) {}
00054 
00055 PilotRequest& PilotRequest::operator=(const PilotRequest &other) {
00056   requestType = other.requestType;
00057   dx = other.dx;
00058   dy = other.dy;
00059   da = other.da;
00060   forwardSpeed = other.forwardSpeed;
00061   strafeSpeed = other.strafeSpeed;
00062   turnSpeed = other.turnSpeed;
00063   walkParameters = other.walkParameters;
00064   collisionAction = other.collisionAction;
00065   waypointList = other.waypointList;
00066   clearWaypoints = other.clearWaypoints;
00067   landmarkExtractor = other.landmarkExtractor;
00068   landmarkExitTest = other.landmarkExitTest;
00069   searchObjectExtractor = other.searchObjectExtractor;
00070   searchExitTest = other.searchExitTest;
00071   searchRotationAngle = other.searchRotationAngle;
00072   targetShape = other.targetShape;
00073   targetHeading = other.targetHeading;
00074   objectShape = other.objectShape;
00075   objectExtractor = other.objectExtractor;
00076   objectMatcher = other.objectMatcher;
00077   obstacleInflation = other.obstacleInflation;
00078   avoidCliffs = other.avoidCliffs;
00079   cliffThreshold = other.cliffThreshold;
00080   avoidObstacles = other.avoidObstacles;
00081   obstacleThreshold = other.obstacleThreshold;
00082   trackRequest = other.trackRequest;
00083   displayParticles = other.displayParticles;
00084   displayIndividualParticles = other.displayIndividualParticles;
00085   displayPath = other.displayPath;
00086   displayTree = other.displayTree;
00087   displayObstacles = other.displayObstacles;
00088   maxRRTIterations = other.maxRRTIterations;
00089   executePath = other.executePath;
00090   landmarks = other.landmarks;
00091   return *this;
00092 }
00093 
00094 } // namespace