PilotRequest Class Reference

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

#include <PilotRequest.h>

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Detailed Description

Request to the Pilot for motion or navigation.

Definition at line 17 of file PilotRequest.h.

List of all members.

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.
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 &)
	Finds the localShS object matching objectShape in worldShS.
MapBuilderRequest *	acquireExtractor
	Pointer to MapBuilderRequest to check if we have acquired the object.
bool(*	acquireTest )(const ShapeRoot &)
	Returns true if vision confirms that we have successfully acquired the object (e.g., for pushing).
bool	allowBackwardMotion
	True if the robot should avoid large turns by walking backwards if distance is short.
float	maxBackwardDistance
	Maximum allowable distance to walk backward instead of turning around.
void(*	pathEditor )(void *pathResult, PilotRequest &req)
void(*	planEditor )(PilotTypes::NavigationPlan &plan, PilotRequest &req)
float	obstacleInflation
	Inflation in mm of obstacle bounding shapes for path planning.
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.
bool	autoDisplayObstacles
	If true, the obstacle boundaries used by the collision checker are displayed in the worls shape space automatically.
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

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Constructor & Destructor Documentation

PilotRequest

(

PilotTypes::RequestType_t

_type = PilotTypes::noRequest

)

Constructor.

Definition at line 8 of file PilotRequest.cc.

PilotRequest

(

const PilotRequest &

req

)

Definition at line 32 of file PilotRequest.cc.

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Member Function Documentation

PilotTypes::RequestType_t getRequestType

(

)

const

Definition at line 27 of file PilotRequest.h.

PilotRequest & operator=

(

const PilotRequest &

req

)

Definition at line 61 of file PilotRequest.cc.

bool operator==

(

const PilotRequest &

other

)

const

Definition at line 95 of file PilotRequest.h.

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Friends And Related Function Documentation

friend class Pilot [friend]

Definition at line 18 of file PilotRequest.h.

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Member Data Documentation

MapBuilderRequest* acquireExtractor

Pointer to MapBuilderRequest to check if we have acquired the object.

Definition at line 55 of file PilotRequest.h.

bool(* acquireTest)(const ShapeRoot &)

Returns true if vision confirms that we have successfully acquired the object (e.g., for pushing).

Definition at line 56 of file PilotRequest.h.

bool allowBackwardMotion

True if the robot should avoid large turns by walking backwards if distance is short.

Definition at line 58 of file PilotRequest.h.

bool autoDisplayObstacles

If true, the obstacle boundaries used by the collision checker are displayed in the worls shape space automatically.

Definition at line 76 of file PilotRequest.h.

bool avoidCliffs

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

Definition at line 65 of file PilotRequest.h.

bool avoidObstacles

If true, use rangefinder sensors to dynamically avoid obstacles (not yet implemented).

Definition at line 67 of file PilotRequest.h.

bool clearWaypoints

If true, the waypointList will be cleared before appending new waypoints.

Definition at line 40 of file PilotRequest.h.

int cliffThreshold

Maximum tolerable distance to the ground (millimeters).

Definition at line 66 of file PilotRequest.h.

PilotTypes::CollisionAction_t collisionAction

What to do about collisions.

Definition at line 37 of file PilotRequest.h.

float da

Rotation angle in radians (positive is counterclockwise).

Definition at line 32 of file PilotRequest.h.

float displayIndividualParticles

How many particles to display (number or percentage) as LocalizationParticle shapes.

Definition at line 72 of file PilotRequest.h.

bool displayObstacles

If true, the obstacle boundaries used by the collision checker are displayed in the worls shape space.

Definition at line 75 of file PilotRequest.h.

float displayParticles

How many particles to display (number or percentage) as a single Graphics shape.

Definition at line 71 of file PilotRequest.h.

bool displayPath

If true, the planned path is displayed in the shape space.

Definition at line 73 of file PilotRequest.h.

bool displayTree

If true, the RRT search tree is displayed in the world shape space.

Definition at line 74 of file PilotRequest.h.

float dx

Forward distance in mm (negative means go backward).

Definition at line 30 of file PilotRequest.h.

float dy

Sideways distance in mm (positive to the left).

Definition at line 31 of file PilotRequest.h.

bool executePath

If true, the Pilot will execute the path it has planned; if false, it plans but does not execute.

Definition at line 78 of file PilotRequest.h.

float forwardSpeed

Translation speed in mm/sec for dx or dy.

Definition at line 33 of file PilotRequest.h.

bool(* landmarkExitTest)()

Should return true if there are enough landmarks to localize.

Definition at line 43 of file PilotRequest.h.

MapBuilderRequest* landmarkExtractor

pointer to MapBuilderRequest used to find landmarks; will be deleted by the Pilot

Definition at line 42 of file PilotRequest.h.

std::vector<DualCoding::ShapeRoot> landmarks

Vector of landmarks to use for localization.

Definition at line 79 of file PilotRequest.h.

float maxBackwardDistance

Maximum allowable distance to walk backward instead of turning around.

Definition at line 59 of file PilotRequest.h.

unsigned int maxRRTIterations

Maximum number of iterations for path planner RRT search.

Definition at line 77 of file PilotRequest.h.

MapBuilderRequest* objectExtractor

Pointer to MapbuilderRequest for finding the object to be pushed; will be deleted by the Pilot.

Definition at line 53 of file PilotRequest.h.

ShapeRoot(* objectMatcher)(const ShapeRoot &)

Finds the localShS object matching objectShape in worldShS.

Definition at line 54 of file PilotRequest.h.

ShapeRoot objectShape

Object we want to push to the target.

Definition at line 52 of file PilotRequest.h.

float obstacleInflation

Inflation in mm of obstacle bounding shapes for path planning.

Definition at line 64 of file PilotRequest.h.

int obstacleThreshold

Minimum tolerable rangefinder distance to an obstacle (millimeters).

Definition at line 68 of file PilotRequest.h.

void(* pathEditor)(void *pathResult, PilotRequest &req)

Definition at line 61 of file PilotRequest.h.

void(* planEditor)(PilotTypes::NavigationPlan &plan, PilotRequest &req)

Definition at line 62 of file PilotRequest.h.

unsigned int requestID [private]

Definition at line 98 of file PilotRequest.h.

BehaviorBase* requestingBehavior

Used to construct a PilotEvent to notify the requesting node of the results of this Pilot operation.

Definition at line 91 of file PilotRequest.h.

PilotTypes::RequestType_t requestType

Type of pilot request.

Definition at line 29 of file PilotRequest.h.

bool(* searchExitTest)()

If true, terminate search and post a completion event.

Definition at line 46 of file PilotRequest.h.

MapBuilderRequest* searchObjectExtractor

MapBuilderRequest to be used for visual search.

Definition at line 45 of file PilotRequest.h.

AngSignPi searchRotationAngle

Angle to rotate body to continue a visual search.

Definition at line 47 of file PilotRequest.h.

float strafeSpeed

Sideways translational speed used for setVelocity.

Definition at line 34 of file PilotRequest.h.

AngTwoPi targetHeading

Heading on which we want to arrive at the target.

Definition at line 50 of file PilotRequest.h.

ShapeRoot targetShape

Shape to walk to.

Definition at line 49 of file PilotRequest.h.

LookoutTrackRequest* trackRequest

Lookout request for tracking objects while walking.

Definition at line 69 of file PilotRequest.h.

float turnSpeed

Rotational speed in radians/sec for da.

Definition at line 35 of file PilotRequest.h.

std::string walkParameters

Definition at line 36 of file PilotRequest.h.

WaypointList waypointList

Waypoint list for waypointWalk.

Definition at line 39 of file PilotRequest.h.

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

• PilotRequest.h
• PilotRequest.cc