Robot Class Reference

List of all members.

Classes
class	Edge
class	Graph
class	GraphVis
class	Node
class	Task
Public Member Functions
void	CachePlan (const ast::point_t &start, const ast::point_t &goal, Graph *graph)
void	Dock ()
void	Dock ()
void	Enable (Stg::Model *model, bool &sub, bool on)
void	EnableFiducial (bool on)
void	EnableLaser (bool on)
void	EnableSonar (bool on)
bool	Full ()
bool	Full ()
bool	Hungry ()
bool	Hungry ()
Graph *	LookupPlan (const ast::point_t &start, const ast::point_t &goal)
bool	ObstacleAvoid ()
bool	ObstacleAvoid ()
void	Plan (Pose sp)
uint64_t	Pt64 (const ast::point_t &pt)
	Robot (ModelPosition *pos, Model *source, Model *sink)
	Robot (ModelPosition *pos, Model *fuel, Model *pool)
void	SetGoal (Model *goal)
void	SetTask (unsigned int t)
void	UnDock ()
void	UnDock ()
int	Update (void)
void	Work ()
void	Work ()
Static Public Member Functions
static int	FiducialUpdate (ModelFiducial *mod, Robot *robot)
static int	FlagDecr (Model *mod, Robot *robot)
static int	FlagIncr (Model *mod, Robot *robot)
static int	LaserUpdate (ModelRanger *laser, Robot *robot)
static int	PositionUpdate (ModelPosition *pos, Robot *robot)
static int	UpdateCallback (ModelRanger *laser, Robot *robot)
Public Attributes
Stg::ModelPosition *	position
Stg::ModelRanger *	ranger
Static Public Attributes
static std::map< std::pair < uint64_t, uint64_t >, Graph * >	plancache
static std::vector< Task >	tasks
Private Types
enum	{ MODE_WORK = 0, MODE_DOCK, MODE_UNDOCK, MODE_QUEUE }
Private Attributes
bool	at_dest
int	avoidcount
Pose	cached_goal_pose
bool	charger_ahoy
double	charger_bearing
double	charger_heading
double	charger_range
radians_t	docked_angle
ModelFiducial *	fiducial
bool	fiducial_sub
bool	force_recharge
Model *	fuel_zone
Model *	goal
Graph *	graphp
GraphVis	graphvis
ModelRanger *	laser
bool	laser_sub
nav_mode_t	mode
enum Robot:: { ... }	mode
unsigned int	node_interval
unsigned int	node_interval_countdown
Model *	pool_zone
ModelPosition *	pos
int	randcount
ModelRanger *	ranger
Model *	sink
ModelRanger *	sonar
bool	sonar_sub
Model *	source
unsigned int	task
long int	wait_started_at
int	work_get
int	work_put
Static Private Attributes
static uint8_t *	map_data
static const unsigned int	map_height
static Model *	map_model
static const unsigned int	map_width
static pthread_mutex_t	planner_mutex = PTHREAD_MUTEX_INITIALIZER

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Detailed Description

Definition at line 43 of file fasr.cc.

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Member Enumeration Documentation

anonymous enum [private]

Enumerator:

MODE_WORK
MODE_DOCK
MODE_UNDOCK
MODE_QUEUE

Definition at line 213 of file fasr2.cc.

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Constructor & Destructor Documentation

Robot::Robot	(	ModelPosition *	pos,
		Model *	source,
		Model *	sink
	)		[inline]

Definition at line 63 of file fasr.cc.

Robot::Robot	(	ModelPosition *	pos,
		Model *	fuel,
		Model *	pool
	)		[inline]

Definition at line 245 of file fasr2.cc.

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Member Function Documentation

void Robot::CachePlan	(	const ast::point_t &	start,
		const ast::point_t &	goal,
		Graph *	graph
	)		[inline]

Definition at line 380 of file fasr2.cc.

void Robot::Dock

(

)

[inline]

Definition at line 115 of file fasr.cc.

void Robot::Dock

(

)

[inline]

Definition at line 481 of file fasr2.cc.

void Robot::Enable	(	Stg::Model *	model,
		bool &	sub,
		bool	on
	)		[inline]

Definition at line 338 of file fasr2.cc.

void Robot::EnableFiducial

(

bool

on

)

[inline]

Definition at line 363 of file fasr2.cc.

void Robot::EnableLaser

(

bool

on

)

[inline]

Definition at line 358 of file fasr2.cc.

void Robot::EnableSonar

(

bool

on

)

[inline]

Definition at line 353 of file fasr2.cc.

static int Robot::FiducialUpdate	(	ModelFiducial *	mod,
		Robot *	robot
	)		[inline, static]

Definition at line 424 of file fasr.cc.

static int Robot::FlagDecr	(	Model *	mod,
		Robot *	robot
	)		[inline, static]

Definition at line 941 of file fasr2.cc.

static int Robot::FlagIncr	(	Model *	mod,
		Robot *	robot
	)		[inline, static]

Definition at line 935 of file fasr2.cc.

bool Robot::Full

(

)

[inline]

Definition at line 373 of file fasr.cc.

bool Robot::Full

(

)

[inline]

Definition at line 754 of file fasr2.cc.

bool Robot::Hungry

(

)

[inline]

Definition at line 368 of file fasr.cc.

bool Robot::Hungry

(

)

[inline]

Definition at line 749 of file fasr2.cc.

static int Robot::LaserUpdate	(	ModelRanger *	laser,
		Robot *	robot
	)		[inline, static]

Definition at line 336 of file fasr.cc.

Graph* Robot::LookupPlan	(	const ast::point_t &	start,
		const ast::point_t &	goal
	)		[inline]

Definition at line 386 of file fasr2.cc.

bool Robot::ObstacleAvoid

(

)

[inline]

Definition at line 202 of file fasr.cc.

bool Robot::ObstacleAvoid

(

)

[inline]

Definition at line 605 of file fasr2.cc.

void Robot::Plan

(

Pose

sp

)

[inline]

Definition at line 393 of file fasr2.cc.

static int Robot::PositionUpdate	(	ModelPosition *	pos,
		Robot *	robot
	)		[inline, static]

Definition at line 378 of file fasr.cc.

uint64_t Robot::Pt64

(

const ast::point_t &

pt

)

[inline]

Definition at line 371 of file fasr2.cc.

void Robot::SetGoal

(

Model *

goal

)

[inline]

Definition at line 688 of file fasr2.cc.

void Robot::SetTask

(

unsigned int

t

)

[inline]

Definition at line 536 of file fasr2.cc.

void Robot::UnDock

(

)

[inline]

Definition at line 173 of file fasr.cc.

void Robot::UnDock

(

)

[inline]

Definition at line 542 of file fasr2.cc.

int Robot::Update

(

void

)

[inline]

Definition at line 765 of file fasr2.cc.

static int Robot::UpdateCallback	(	ModelRanger *	laser,
		Robot *	robot
	)		[inline, static]

Definition at line 760 of file fasr2.cc.

void Robot::Work

(

)

[inline]

Definition at line 282 of file fasr.cc.

void Robot::Work

(

)

[inline]

Definition at line 698 of file fasr2.cc.

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Member Data Documentation

bool Robot::at_dest [private]

Definition at line 60 of file fasr.cc.

int Robot::avoidcount [private]

Definition at line 53 of file fasr.cc.

Pose Robot::cached_goal_pose [private]

Definition at line 225 of file fasr2.cc.

bool Robot::charger_ahoy [private]

Definition at line 55 of file fasr.cc.

double Robot::charger_bearing [private]

Definition at line 56 of file fasr.cc.

double Robot::charger_heading [private]

Definition at line 58 of file fasr.cc.

double Robot::charger_range [private]

Definition at line 57 of file fasr.cc.

radians_t Robot::docked_angle [private]

Definition at line 220 of file fasr2.cc.

ModelFiducial * Robot::fiducial [private]

Definition at line 49 of file fasr.cc.

bool Robot::fiducial_sub [private]

Definition at line 237 of file fasr2.cc.

bool Robot::force_recharge [private]

Definition at line 241 of file fasr2.cc.

Model* Robot::fuel_zone [private]

Definition at line 204 of file fasr2.cc.

Model* Robot::goal [private]

Definition at line 224 of file fasr2.cc.

Graph* Robot::graphp [private]

Definition at line 227 of file fasr2.cc.

GraphVis Robot::graphvis [private]

Definition at line 228 of file fasr2.cc.

ModelRanger * Robot::laser [private]

Definition at line 47 of file fasr.cc.

bool Robot::laser_sub [private]

Definition at line 238 of file fasr2.cc.

uint8_t * Robot::map_data [static, private]

Definition at line 234 of file fasr2.cc.

const unsigned int Robot::map_height [static, private]

Definition at line 233 of file fasr2.cc.

Model * Robot::map_model [static, private]

Definition at line 235 of file fasr2.cc.

const unsigned int Robot::map_width [static, private]

Definition at line 232 of file fasr2.cc.

nav_mode_t Robot::mode [private]

Definition at line 59 of file fasr.cc.

enum { ... } Robot::mode [private]

unsigned int Robot::node_interval [private]

Definition at line 229 of file fasr2.cc.

unsigned int Robot::node_interval_countdown [private]

Definition at line 230 of file fasr2.cc.

std::map< std::pair< uint64_t, uint64_t >, Robot::Graph * > Robot::plancache [static]

Definition at line 368 of file fasr2.cc.

pthread_mutex_t Robot::planner_mutex = PTHREAD_MUTEX_INITIALIZER [static, private]

Definition at line 222 of file fasr2.cc.

Model* Robot::pool_zone [private]

Definition at line 205 of file fasr2.cc.

ModelPosition * Robot::pos [private]

Definition at line 46 of file fasr.cc.

Stg::ModelPosition* Robot::position

Definition at line 23 of file stest.cc.

int Robot::randcount [private]

Definition at line 53 of file fasr.cc.

Stg::ModelRanger* Robot::ranger

Definition at line 24 of file stest.cc.

ModelRanger* Robot::ranger [private]

Definition at line 48 of file fasr.cc.

Model * Robot::sink [private]

Definition at line 52 of file fasr.cc.

ModelRanger* Robot::sonar [private]

Definition at line 199 of file fasr2.cc.

bool Robot::sonar_sub [private]

Definition at line 239 of file fasr2.cc.

Model* Robot::source [private]

Definition at line 52 of file fasr.cc.

unsigned int Robot::task [private]

Definition at line 202 of file fasr2.cc.

std::vector< Robot::Task > Robot::tasks [static]

Definition at line 55 of file fasr2.cc.

long int Robot::wait_started_at [private]

Definition at line 195 of file fasr2.cc.

int Robot::work_get [private]

Definition at line 54 of file fasr.cc.

int Robot::work_put [private]

Definition at line 54 of file fasr.cc.

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

• fasr.cc
• fasr2.cc
• stest.cc