RobotFlow::FollowWall Class Reference

Inheritance diagram for RobotFlow::FollowWall:

[legend]Collaboration diagram for RobotFlow::FollowWall:

[legend]


Public Member Functions
	FollowWall (string nodeName, ParameterSet params)
void	calculate_behavior (int output_id, int count, Buffer &out)
virtual void	calculate (int output_id, int count, FD::Buffer &out)
int	get_behavior_id ()
virtual ObjectRef	getOutput (int output_id, int count)
virtual void	request (int outputID, const ParameterSet &req)
virtual void	initialize ()
virtual void	reset ()
virtual int	addOutput (const std::string &outputName)
virtual int	addInput (const std::string &inputName)
virtual void	initializeBuffers ()
virtual void	performRequests ()
virtual ObjectRef	getOutputNamed (const std::string &outputName, int count)
virtual void	connectToNode (std::string in, Node *inputNode, std::string out)
virtual bool	hasOutput (int output_id) const
ObjectRef	getInput (int inputID, int count)
virtual void	stop ()
virtual void	cleanupNotify ()
std::string	getName ()
virtual void	verifyConnect ()
void	printOn (std::ostream &out=std::cout) const
void	setUINode (UINode *_uinode)
void	ref ()
void	unref ()
int	unique ()
virtual void	destroy ()
virtual void	serialize (std::ostream &out) const
virtual void	unserialize (std::istream &in)
virtual void	doesNotUnderstand (std::string method)
virtual bool	isNil () const
virtual void	prettyPrint (std::ostream &out=std::cout) const
virtual void	readFrom (std::istream &in=std::cin)
virtual ObjectRef	clone ()
virtual std::string	className () const
Static Public Member Functions
static int	register_behavior (const std::string &name)
static int	find_behavior (const std::string &name)
static bool	behavior_exists (const std::string &name)
static int	get_behavior_size ()
static FD::Vector< std::string > &	get_behaviors ()
static void	remove_behavior (const std::string &name)
static int	addFactory (const std::string &factoryName, _NodeFactory *const factory)
static int	addXPM (const std::string &nodeName, char **XPMData)
static char **	getXPM (const std::string &nodeName)
static _NodeFactory *	getFactoryNamed (const std::string &name)
static std::map< std::string, _NodeFactory * > &	factoryDictionary ()
static std::vector< std::string > &	nodeInfo ()
static std::map< std::string, char ** > &	XPMDictionary ()
static int	addNodeInfo (const std::string &info)
static ObjectRef	newObject (const std::string &objType)
static int	addObjectType (const std::string &objType, _ObjectFactory *factory)
static std::map< std::string, _ObjectFactory * > &	ObjectFactoryDictionary ()
static TypeMap< _ObjectFactory * > &	TypeidDictionary ()
Protected Member Functions
virtual void	connectToNode (unsigned int in, Node *inputNode, unsigned int out)
virtual std::vector< NodeInput > &	getInputs ()
virtual int	translateInput (std::string inputName)
virtual int	translateOutput (std::string inputName)
virtual void	rt_assert (bool cond, std::string message="", char *_file="unknown", int _line=0)
virtual void	construct_assert (bool cond, std::string message="", char *_file="unknown", int _line=0)
virtual void	throw_error (bool send_ptr, std::string message, char *_file, int _line)
Protected Attributes
int	m_activationID
int	m_exploitationID
int	m_last_exploitation
int	m_behaviorID
FD::ObjectRef	m_exploitationValue
int	processCount
std::vector< OutputCacheInfo >	outputs
std::vector< InputCacheInfo >	inputsCache
bool	inOrder
std::string	name
std::vector< NodeInput >	inputs
std::vector< std::string >	outputNames
ParameterSet	parameters
UINode *	uinode
AtomicCounter	ref_count
Private Member Functions
float	computeMeanValue (vector< float >data)
float	computeStdDev (vector< float >data)
bool	findWallInData (std::vector< float > angleBeta, float gamma, float b, float &distWall, float &angularCorrection)
void	getInitialDistWalls (std::vector< int >laserReading, float &aLeft, float &aRight)
void	detectWalls (std::vector< int >laserReading, bool &wallLeft, float &distWallLeft, float &angularCorrectionLeft, bool &wallRight, float &distWallRight, float &angularCorrectionRight, bool toLog)
float	lookupZValue (float degreeConfidence)
int	speedValue (float angularCorrection)
Private Attributes
int	laserID
int	rotationID
int	velocityID
int	m_max_velocity
int	m_min_velocity
int	m_max_rotation
int	m_nb_speed_value
std::vector< int >	m_velocity_chart
std::vector< int >	m_rotation_chart
std::vector< int >	m_angle_chart
int	m_max_dist_wall
int	m_min_dist_wall
int	m_dist_center
int	m_dist_detection
int	m_angular_correction
int	m_angular_treshold
int	m_range_begin
int	m_range_end
int	m_nbLaserSample
float	m_laser_increment
int	m_laser_range
int	m_range_increment
int	m_begin_right
int	m_end_right
int	m_begin_left
int	m_end_left
float	m_degree_confidence
float	m_estimator
float	m_stdDeviation
int	m_n
float	m_maxStdDevBeta
Static Private Attributes
static const float	RAD_DEGREE = 57.2958
static const float	PI = 3.14159
static const float	PI_2 = 1.5708
static const float	PI_4 = 0.785398
Friends
friend std::ostream &	operator<< (std::ostream &out, const Object &obj)

Constructor & Destructor Documentation

RobotFlow::FollowWall::FollowWall ( string nodeName,

ParameterSet params

) [inline]

Member Function Documentation

static bool RobotFlow::Behavior::behavior_exists ( const std::string & name ) [static, inherited]

Verifies if a behavior is registered.

Parameters:

name The behavior name that we are looking for.

Return values:

bool Returns true if the behavior name is registered, else returns false.

void RobotFlow::Behavior::calculate ( int output_id,

int count,

FD::Buffer & out

) [virtual, inherited]

This function is required by the BufferedNode class. That's the core processing function called by the overflow engine. This function takes care to update the exploitation value and verifies if the Behavior is activated before calling calculate_behavior.

Parameters:

output_id The output identification we are interested in.

count The iteration number we are calculating.

out The output buffer where th put the result.

Implements FD::BufferedNode.
Reimplemented in RobotFlow::Grasp.

void RobotFlow::FollowWall::calculate_behavior ( int output_id,

int count,

Buffer & out

) [inline, virtual]

calculate_behavior is a pure virtual function. It should be implemented in every derived class. Processing of the behaviors is done inside this function.

Parameters:

output_id The output identification we are interested in.

count The iteration number we are calculating.

out The output buffer where th put the result.

Implements RobotFlow::Behavior.

float RobotFlow::FollowWall::computeMeanValue ( vector< float > data ) [inline, private]

float RobotFlow::FollowWall::computeStdDev ( vector< float > data ) [inline, private]

void RobotFlow::FollowWall::detectWalls ( std::vector< int > laserReading,

bool & wallLeft,

float & distWallLeft,

float & angularCorrectionLeft,

bool & wallRight,

float & distWallRight,

float & angularCorrectionRight,

bool toLog

) [inline, private]

static int RobotFlow::Behavior::find_behavior ( const std::string & name ) [static, inherited]

Translation of the behavior name into the behavior identification number.

Parameters:

name The behavior name that we are looking for.

Return values:

int the behavior identification number.

bool RobotFlow::FollowWall::findWallInData ( std::vector< float > angleBeta,

float gamma,

float b,

float & distWall,

float & angularCorrection

) [inline, private]

int RobotFlow::Behavior::get_behavior_id ( ) [inherited]

Get the behavior id

Return values:

int The behavior id

static int RobotFlow::Behavior::get_behavior_size ( ) [inline, static, inherited]

Returns the number of registered behaviors.

Return values:

int The number of registered behaviors.

Vector< string > & RobotFlow::Behavior::get_behaviors ( ) [static, inherited]

Returns the data structure containing the registered behavior names. This function should not be used by derived classes.

Return values:

std::vector<std::string>& The data structure containing the registered behavior names.

void RobotFlow::FollowWall::getInitialDistWalls ( std::vector< int > laserReading,

float & aLeft,

float & aRight

) [inline, private]

float RobotFlow::FollowWall::lookupZValue ( float degreeConfidence ) [inline, private]

static int RobotFlow::Behavior::register_behavior ( const std::string & name ) [static, inherited]

This function is called by the REGISTER_BEHAVIOR macro. It should not be called from anything else.

Parameters:

name The name of the behavior we want to register.

Return values:

int The identification number of the new behavior.

static void RobotFlow::Behavior::remove_behavior ( const std::string & name ) [static, inherited]

Remove the behavior

Parameters:

name The behavior name that we want remove