DualCoding::PilotRequest Class Reference

Request to the Pilot for motion or navigation. More...

#include <PilotRequest.h>

Detailed Description

Request to the Pilot for motion or navigation.

Definition at line 16 of file PilotRequest.h.

Public Member Functions
	PilotRequest (PilotTypes::RequestType_t _type=PilotTypes::noRequest)
	Constructor.
	PilotRequest (const PilotRequest &req)
PilotTypes::RequestType_t	getRequestType () const
PilotRequest &	operator= (const PilotRequest &req)
bool	operator== (const PilotRequest &other) const
Public Attributes
PilotTypes::RequestType_t	requestType
	Type of pilot request.
float	dx
	Forward distance in mm (negative means go backward).
float	dy
	Sideways distance in mm (positive to the left).
float	da
	Rotation angle in radians (positive is counterclockwise).
float	forwardSpeed
	Translation speed in mm/sec for dx or dy.
float	strafeSpeed
	Sideways translational speed used for setVelocity.
float	turnSpeed
	Rotational speed in radians/sec for da.
std::string	walkParameters
PilotTypes::CollisionAction_t	collisionAction
	What to do about collisions.
WaypointList *	waypointList
	Waypoint list for waypointWalk; contents will be copied by Pilot::executeRequest.
bool	clearWaypoints
	If true, the waypointList will be cleared before appending new waypoints.
MapBuilderRequest *	landmarkExtractor
	pointer to MapBuilderRequest used to find landmarks; will be deleted by the Pilot
bool(*	landmarkExitTest )()
	Should return true if there are enough landmarks to localize.
MapBuilderRequest *	searchObjectExtractor
	MapBuilderRequest to be used for visual search.
bool(*	searchExitTest )()
	If true, terminate search and post a completion event.
AngSignPi	searchRotationAngle
	Angle to rotate body to continue a visual search.
ShapeRoot	targetShape
	Shape to walk to.
AngTwoPi	targetHeading
	Heading on which we want to arrive at the target.
ShapeRoot	objectShape
	Object we want to push to the target.
MapBuilderRequest *	objectExtractor
	Pointer to MapbuilderRequest for finding the object to be pushed; will be deleted by the Pilot.
ShapeRoot(*	objectMatcher )(const ShapeRoot &)
float	obstacleInflation
	!< Finds the localShS object matching objectShape in worldShS
bool	avoidCliffs
	If true, use IR to avoid walking off a cliff.
int	cliffThreshold
	Maximum tolerable distance to the ground (millimeters).
bool	avoidObstacles
	If true, use rangefinder sensors to dynamically avoid obstacles (not yet implemented).
int	obstacleThreshold
	Minimum tolerable rangefinder distance to an obstacle (millimeters).
LookoutTrackRequest *	trackRequest
	Lookout request for tracking objects while walking.
float	displayParticles
	How many particles to display (number or percentage) as a single Graphics shape.
float	displayIndividualParticles
	How many particles to display (number or percentage) as LocalizationParticle shapes.
bool	displayPath
	If true, the planned path is displayed in the shape space.
bool	displayTree
	If true, the RRT search tree is displayed in the world shape space.
bool	displayObstacles
	If true, the obstacle boundaries used by the collision checker are displayed in the worls shape space.
unsigned int	maxRRTIterations
	Maximum number of iterations for path planner RRT search.
bool	executePath
	If true, the Pilot will execute the path it has planned; if false, it plans but does not execute.
std::vector < DualCoding::ShapeRoot >	landmarks
	Vector of landmarks to use for localization.
BehaviorBase *	requestingBehavior
	Used to construct a PilotEvent to notify the requesting node of the results of this Pilot operation.
Private Attributes
unsigned int	requestID
Friends
class	Pilot