#include <control_layer_base.h>

Inheritance diagram for mdm_library::ControlLayerBase:

Public Types
enum	CONTROLLER_STATUS { STOPPED, STARTED }
Public Member Functions
	ControlLayerBase (const CONTROLLER_STATUS initial_status=STARTED)
uint32_t	getDecisionEpisode ()
uint32_t	getDecisionHorizon ()
CONTROLLER_STATUS	getStatus ()
virtual void	resetController ()
void	resetDecisionEpisode ()
virtual void	startController ()
virtual void	stopController ()
Protected Member Functions
uint32_t	incrementDecisionEpisode ()
void	setStatus (const CONTROLLER_STATUS status)
Protected Attributes
ros::NodeHandle	nh_
Private Member Functions
bool	resetCallback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
bool	startCallback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
bool	stopCallback (std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
Private Attributes
uint32_t	decision_episode_
uint32_t	decision_horizon_
ros::ServiceServer	reset_srv_
ros::ServiceServer	start_srv_
CONTROLLER_STATUS	status_
ros::ServiceServer	stop_srv_

Detailed Description

The ControlLayerBase class provides the functionalities that are common to all MDM controllers. These include:

The ability to stop / start / reset a controller via service calls;
The ability to get / reset the decision step number of a controller.

Definition at line 56 of file control_layer_base.h.

Member Enumeration Documentation

enum mdm_library::ControlLayerBase::CONTROLLER_STATUS

A simple flag to identify whether a controller is active or not. All controllers should allow external stop / start / reset commands.

Enumerator:

STOPPED
STARTED

Definition at line 63 of file control_layer_base.h.

Constructor & Destructor Documentation

ControlLayerBase::ControlLayerBase ( const CONTROLLER_STATUS initial_status = STARTED )

Default constructor.

Parameters:

initial_status The initial status of this controller. By default, Control Layers are auto-started. If the initial status is STOPPED, it must be started externally (this is desirable for lower-level controllers in hierarchical systems).

Definition at line 36 of file control_layer_base.cpp.

Member Function Documentation

uint32_t ControlLayerBase::getDecisionEpisode ( )

Returns the current decision step number of this controller (mostly for logging purposes).

Definition at line 131 of file control_layer_base.cpp.

uint32_t ControlLayerBase::getDecisionHorizon ( )

Returns the horizon of this controller. The MADP-defined MAXHORIZON should be interpreted as infinite.

Definition at line 149 of file control_layer_base.cpp.

ControlLayerBase::CONTROLLER_STATUS ControlLayerBase::getStatus ( )

Returns the current status of this controller.

Definition at line 140 of file control_layer_base.cpp.

uint32_t ControlLayerBase::incrementDecisionEpisode ( ) [protected]

Increments the decision step number. If the step number reaches the problem horizon, the controller is reset.

Definition at line 167 of file control_layer_base.cpp.

bool ControlLayerBase::resetCallback	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)		`[private]`

The callback for the "reset" service (Empty service type).

See also:: reset_srv_

Definition at line 79 of file control_layer_base.cpp.

void ControlLayerBase::resetController ( ) [virtual]

Stops and re-starts the controller.

See also:: stopController(), startController()

This is primarily meant for controllers with reimplemented stop/start functions.

Definition at line 110 of file control_layer_base.cpp.

void ControlLayerBase::resetDecisionEpisode ( )

Resets the decision step number of this controller back to 0.

Definition at line 158 of file control_layer_base.cpp.

void ControlLayerBase::setStatus ( const CONTROLLER_STATUS status ) [protected]

Allows direct access to the status of this controller. This can be used to reimplement the start / stop / reset functions by derived classes.

Definition at line 121 of file control_layer_base.cpp.

bool ControlLayerBase::startCallback	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)		`[private]`

The callback for the "start" service (Empty service type).

See also:: start_srv_

Definition at line 69 of file control_layer_base.cpp.

void ControlLayerBase::startController ( ) [virtual]

Start this controller. The decision step number is set to 0 whenever a controller is started.

See also:: stopController, resetController()

Reimplemented in mdm_library::ControllerEventPOMDP, and mdm_library::ControllerTimedPOMDP.

Definition at line 100 of file control_layer_base.cpp.

bool ControlLayerBase::stopCallback	(	std_srvs::Empty::Request &	request,
		std_srvs::Empty::Response &	response
	)		`[private]`

The callback for the "stop" service (Empty service type).

See also:: stop_srv_

Definition at line 59 of file control_layer_base.cpp.

void ControlLayerBase::stopController ( ) [virtual]

Stop this controller. When stopped, a controller does not update internally, not does it output any actions. Be mindful that, for partially observable models, after stopping a controller, you may need to feed the correct initial belief state to the controller before starting it again.

See also:: startController(), resetController()

Definition at line 91 of file control_layer_base.cpp.

Member Data Documentation

uint32_t mdm_library::ControlLayerBase::decision_episode_ [private]

The decision step number.

Definition at line 136 of file control_layer_base.h.

uint32_t mdm_library::ControlLayerBase::decision_horizon_ [private]

The decision horizon. While, typically, infinite-horizon policies are used for robotic agents, MDM also contemplates the possibility of using finite-horizon controllers.

Definition at line 140 of file control_layer_base.h.

ros::NodeHandle mdm_library::ControlLayerBase::nh_ [protected]

Definition at line 114 of file control_layer_base.h.

ros::ServiceServer mdm_library::ControlLayerBase::reset_srv_ [private]

The "reset" service server. This is an empty-type service in the namespace of the node containing the Control Layer, which can be used to reset (stop & start) the controller.

Definition at line 156 of file control_layer_base.h.

ros::ServiceServer mdm_library::ControlLayerBase::start_srv_ [private]

The "start" service server. This is an empty-type service in the namespace of the node containing the Control Layer, which can be used to start the controller.

Definition at line 151 of file control_layer_base.h.

CONTROLLER_STATUS mdm_library::ControlLayerBase::status_ [private]

The status of this controller.

Definition at line 134 of file control_layer_base.h.

ros::ServiceServer mdm_library::ControlLayerBase::stop_srv_ [private]

The "stop" service server. This is an empty-type service in the namespace of the node containing the Control Layer, which can be used to stop the controller.

Definition at line 146 of file control_layer_base.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation