A plugin for computing the score of the navigation task. This plugin derives from the generic ScoringPlugin class. Check out that plugin for other required SDF elements. This plugin requires the following SDF parameters: More...

#include <navigation_scoring_plugin.hh>

Inheritance diagram for NavigationScoringPlugin:

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Classes
class	Gate
	A gate that is part of the navigation challenge. More...

Public Member Functions
void	Load (gazebo::physics::WorldPtr _world, sdf::ElementPtr _sdf)

	NavigationScoringPlugin ()

Public Member Functions inherited from ScoringPlugin
void	Exit ()
	Shutdown Gazebo and ROS. More...

	ScoringPlugin ()
	Class constructor. More...

Private Types
enum	GateState { GateState::VEHICLE_OUTSIDE, GateState::VEHICLE_BEFORE, GateState::VEHICLE_AFTER, GateState::CROSSED, GateState::INVALID }
	All gate states. More...

Private Member Functions
bool	AddGate (const std::string &_leftMarkerName, const std::string &_rightMarkerName)
	Register a new gate. More...

void	Fail ()
	Set the score to 0 and change to state to "finish". More...

void	OnCollision () override
	Callback executed when a collision is detected for the WAMV. More...

bool	ParseGates (sdf::ElementPtr _sdf)
	Parse the gates from SDF. More...

void	Update ()
	Callback executed at every world update. More...

Private Attributes
gazebo::physics::ModelPtr	course

std::vector< Gate >	gates
	All the gates. More...

unsigned int	numCollisions = 0
	The number of WAM-V collisions. More...

int	numGates
	Number of gates. More...

double	obstaclePenalty = 10.0
	Number of points deducted per collision. More...

gazebo::event::ConnectionPtr	updateConnection
	Pointer to the update event connection. More...

Additional Inherited Members
Protected Member Functions inherited from ScoringPlugin
gazebo::common::Time	ElapsedTime () const
	Elapsed time in the running state. More...

void	Finish ()
	Finish the current task. This will set the "finished" flag in the task message to true. More...

double	GetRunningStateDuration ()
	Get running duration. More...

double	GetTimeoutScore ()
	Get the timeoutScore. More...

void	Load (gazebo::physics::WorldPtr _world, sdf::ElementPtr _sdf)

virtual void	ReleaseVehicle ()
	Tries to release the vehicle in case is locked. More...

gazebo::common::Time	RemainingTime () const
	Remaining time in the running state. More...

double	Score () const
	Get the current score. More...

void	SetScore (double _newScore)
	Set the score. More...

void	SetTimeoutScore (double _timeoutScore)
	Set the score in case of timeout. More...

std::string	TaskName () const
	Get the task name. More...

std::string	TaskState () const
	Get the task state. More...

Protected Attributes inherited from ScoringPlugin
gazebo::common::Time	lastCollisionTime
	Last collision time. More...

double	runningStateDuration = 300.0
	Duration (seconds) of the running state (max task time). More...

vrx_gazebo::Task	taskMsg
	The next task message to be published. More...

std::string	taskName = "undefined"
	The name of the task. More...

ros::Publisher	taskPub
	Publisher for the task state. More...

gazebo::physics::ModelPtr	vehicleModel
	Pointer to the vehicle to score. More...

std::string	vehicleName
	The name of the vehicle to score. More...

gazebo::physics::WorldPtr	world
	A world pointer. More...

Detailed Description

A plugin for computing the score of the navigation task. This plugin derives from the generic ScoringPlugin class. Check out that plugin for other required SDF elements. This plugin requires the following SDF parameters:

<obstacle_penalty>: Specifies how many points are deducted per collision. <gates>: Specifies the collection of gates delimiting the course.

Each gate accepts the following elements:

<gate>: A gate is delimited by two markers (left and right). The vessel should pass through the gate with the markers on the defined right and left sides. E.g.:

<left_marker>: The name of the marker that should stay on the left side of the vessel. <right_marker> The name of the marker that should stay on the right side of the vessel.

Here's an example: <plugin name="navigation_scoring_plugin" filename="libnavigation_scoring_plugin.so"> <vehicle>wamv</vehicle> <task_name>navigation_scoring_plugin</task_name> <course_name>vrx_navigation_course</course_name> <obstacle_penalty>10</obstable_penalty> <gates> <gate> <left_marker>red_bound_0</left_marker> <right_marker>green_bound_0</right_marker> </gate> <gate> <left_marker>red_bound_1</left_marker> <right_marker>green_bound_1</right_marker> </gate> <gate> <left_marker>red_bound_2</left_marker> <right_marker>green_bound_2</right_marker> </gate> <gate> <left_marker>red_bound_3</left_marker> <right_marker>green_bound_3</right_marker> </gate> <gate> <left_marker>red_bound_4</left_marker> <right_marker>green_bound_4</right_marker> </gate> <gate> <left_marker>red_bound_5</left_marker> <right_marker>green_bound_5</right_marker> </gate> <gate> <left_marker>red_bound_6</left_marker> <right_marker>green_bound_6</right_marker> </gate> </gates> </plugin>

Definition at line 87 of file navigation_scoring_plugin.hh.

Member Enumeration Documentation

enum NavigationScoringPlugin::GateState

strongprivate

All gate states.

Enumerator
VEHICLE_OUTSIDE	Not "in" the gate.
VEHICLE_BEFORE	Before the gate.
VEHICLE_AFTER	After the gate.
CROSSED	Gate crossed!
INVALID	Gate invalid. E.g.: if crossed in the wrong direction.