A plugin that provides common functionality to any scoring plugin. This plugin defines four different task states: More...

#include <scoring_plugin.hh>

Inheritance diagram for ScoringPlugin:

[legend]

Public Member Functions
	ScoringPlugin ()=default
	Class constructor. More...

Protected Member Functions
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...

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

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...

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

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

Protected Attributes
double	score = 0.0
	The score. More...

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

std::string	topic = "/vmrc/task/info"
	Topic where the task stats are published. More...

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

Private Member Functions
virtual void	OnFinished ()
	Callback executed when the task state transition into "finished". More...

virtual void	OnReady ()
	Callback executed when the task state transition into "ready". More...

virtual void	OnRunning ()
	Callback executed when the task state transition into "running". More...

bool	ParseJoints ()
	Parse the joints section of the SDF block. More...

bool	ParseSDFParameters ()
	Parse all SDF parameters. More...

void	PublishStats ()
	Publish the task stats over a ROS topic. More...

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

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

void	UpdateTaskMessage ()
	Update the task stats message. More...

void	UpdateTaskState ()
	Update the state of the current task. More...

void	UpdateTime ()
	Update all time-related variables. More...

Private Attributes
gazebo::common::Time	currentTime
	Current time (simulation). More...

gazebo::common::Time	elapsedTime

gazebo::common::Time	finishTime
	Absolute time specifying the start of the finish state. More...

double	initialStateDuration = 30.0
	Duration (seconds) of the initial state. More...

gazebo::common::Time	lastStatsSent = gazebo::common::Time::Zero
	Time at which the last message was sent. More...

std::vector< std::string >	lockJointNames
	The name of the joints to be dettached during ReleaseVehicle(). More...

double	readyStateDuration = 60.0
	Duration (seconds) of the ready state. More...

gazebo::common::Time	readyTime
	Absolute time specifying the start of the ready state. More...

gazebo::common::Time	remainingTime
	Remaining time since the start of the task (running state). More...

std::unique_ptr< ros::NodeHandle >	rosNode
	ROS node handle. More...

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

gazebo::common::Time	runningTime
	Absolute time specifying the start of the running state. More...

sdf::ElementPtr	sdf
	Pointer to the SDF plugin element. More...

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

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

std::string	taskState = "initial"
	The task state. More...

bool	timedOut = false
	Whether the current task has timed out or not. More...

Detailed Description

A plugin that provides common functionality to any scoring plugin. This plugin defines four different task states:

Initial: The vehicle might be locked to the world via some joints with different constraints. This state is used to stabilize the vehicle and let it settle for a while.
Ready: If the vehicle was locked, it will be released in this state. The task hasn't started yet, but the vehicle can be controlled and prepared for the start of the task.
Running: The task has started. The clockwatch task starts too.
Finished: The maximum allowed task time has been reached (time out) or the task has been completed. Other plugins derived from the ScoringPlugin class can call the Finish() method to trigger the completion of the task.

The plugin also exposes a pair of methods [Set]Score() for setting and getting a score.

Derived plugins can also override the OnReady(), OnRunning(), and OnFinished() to be notified when the task transitions into the "ready". "running" or "finished" states respectively.

The plugin publishes task information on a ROS topic at 1Hz.

This plugin uses the following SDF parameters:

<vehicle>: Required parameter (string type) with the name of the main vehicle to be under control during the task.

<task_name>: Required parameter specifying the task name (string type).

<topic>: Optional parameter (string type) containing the ROS topic name to publish the task stats. The default topic name is /vmrc/task/info .

<initial_state_duration>: Optional parameter (double type) specifying the amount of seconds that the plugin will be in the "initial" state.

<ready_state_duration>: Optional parameter (double type) specifying the amount of seconds that the plugin will be in the "ready" state.

<running_state_duration>: Optional parameter (double type) specifying the amount of maximum seconds that the plugin will be in the "running" state. Note that this parameter specifies the maximum task time.

<release_joints>: Optional element specifying the collection of joints that should be dettached when transitioning to the "ready" state.

This block should contain at least one of these blocks: <joint>: This block should contain a <name> element with the name of the joint to release.

Here's an example: <plugin name="scoring_plugin" filename="libscoring_plugin.so"> <vehicle>wamv</vehicle> <task_name>navigation_course</task_name> <initial_state_duration>10</initial_state_duration> <ready_state_duration>10</ready_state_duration> <running_state_duration>30</running_state_duration> <release_joints> <joint> <name>wamv_external_pivot_joint</name> </joint> <joint> <name>wamv_external_riser</name> </joint> </release_joints> </plugin>

Definition at line 99 of file scoring_plugin.hh.

Constructor & Destructor Documentation

ScoringPlugin::ScoringPlugin ( )

default

Class constructor.

Member Function Documentation

gazebo::common::Time ScoringPlugin::ElapsedTime ( ) const

protected

Elapsed time in the running state.

Returns: The elapsed time in the running state.

Definition at line 84 of file scoring_plugin.cc.

void ScoringPlugin::Finish ( )

protected

Finish the current task. This will set the "finished" flag in the task message to true.

Definition at line 96 of file scoring_plugin.cc.

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

protected

Definition at line 25 of file scoring_plugin.cc.

void ScoringPlugin::OnFinished ( )

privatevirtual

Callback executed when the task state transition into "finished".

Reimplemented in NavigationScoringPlugin.

Definition at line 212 of file scoring_plugin.cc.

void ScoringPlugin::OnReady ( )

privatevirtual

Callback executed when the task state transition into "ready".

Reimplemented in NavigationScoringPlugin.

Definition at line 202 of file scoring_plugin.cc.

void ScoringPlugin::OnRunning ( )

privatevirtual

Callback executed when the task state transition into "running".

Reimplemented in NavigationScoringPlugin.

Definition at line 207 of file scoring_plugin.cc.

bool ScoringPlugin::ParseJoints ( )

private

Parse the joints section of the SDF block.

Returns: True when all parameters were successfully parsed or false otherwise.

Definition at line 283 of file scoring_plugin.cc.

bool ScoringPlugin::ParseSDFParameters ( )

private

Parse all SDF parameters.

Returns: True when all parameters were successfully parsed or false otherwise.

Definition at line 217 of file scoring_plugin.cc.

void ScoringPlugin::PublishStats ( )

private

Publish the task stats over a ROS topic.

Definition at line 169 of file scoring_plugin.cc.

void ScoringPlugin::ReleaseVehicle ( )

private

Tries to release the vehicle in case is locked.

Definition at line 182 of file scoring_plugin.cc.

gazebo::common::Time ScoringPlugin::RemainingTime ( ) const

protected

Remaining time in the running state.

Returns: The remaining time in the running state.

Definition at line 90 of file scoring_plugin.cc.

double ScoringPlugin::Score ( ) const

protected

Get the current score.

Returns: The current score.

Definition at line 60 of file scoring_plugin.cc.

void ScoringPlugin::SetScore ( double _newScore )

protected

Set the score.

Parameters

[in] _newScore The new score.

Definition at line 66 of file scoring_plugin.cc.

std::string ScoringPlugin::TaskName ( ) const

protected

Get the task name.

Returns: Task name.

Definition at line 72 of file scoring_plugin.cc.

std::string ScoringPlugin::TaskState ( ) const

protected

Get the task state.

Returns: Task state.

Definition at line 78 of file scoring_plugin.cc.

void ScoringPlugin::Update ( )

private

Callback executed at every world update.

Definition at line 106 of file scoring_plugin.cc.

void ScoringPlugin::UpdateTaskMessage ( )

private

Update the task stats message.

Definition at line 159 of file scoring_plugin.cc.

void ScoringPlugin::UpdateTaskState ( )

private

Update the state of the current task.

Definition at line 131 of file scoring_plugin.cc.

void ScoringPlugin::UpdateTime ( )

private

Update all time-related variables.

Definition at line 118 of file scoring_plugin.cc.

Member Data Documentation

gazebo::common::Time ScoringPlugin::currentTime

private

Current time (simulation).

Definition at line 216 of file scoring_plugin.hh.

gazebo::common::Time ScoringPlugin::elapsedTime

private

Definition at line 219 of file scoring_plugin.hh.

gazebo::common::Time ScoringPlugin::finishTime

private

Absolute time specifying the start of the finish state.

Definition at line 213 of file scoring_plugin.hh.

double ScoringPlugin::initialStateDuration = 30.0

private

Duration (seconds) of the initial state.

Definition at line 198 of file scoring_plugin.hh.

gazebo::common::Time ScoringPlugin::lastStatsSent = gazebo::common::Time::Zero

private

Time at which the last message was sent.

Definition at line 228 of file scoring_plugin.hh.

std::vector<std::string> ScoringPlugin::lockJointNames

private

The name of the joints to be dettached during ReleaseVehicle().

Definition at line 237 of file scoring_plugin.hh.

double ScoringPlugin::readyStateDuration = 60.0

private

Duration (seconds) of the ready state.

Definition at line 201 of file scoring_plugin.hh.

gazebo::common::Time ScoringPlugin::readyTime

private

Absolute time specifying the start of the ready state.

Definition at line 207 of file scoring_plugin.hh.

gazebo::common::Time ScoringPlugin::remainingTime

private

Remaining time since the start of the task (running state).

Definition at line 222 of file scoring_plugin.hh.

std::unique_ptr<ros::NodeHandle> ScoringPlugin::rosNode

private

ROS node handle.

Definition at line 240 of file scoring_plugin.hh.

double ScoringPlugin::runningStateDuration = 300.0

private

Duration (seconds) of the running state (max task time).

Definition at line 204 of file scoring_plugin.hh.

gazebo::common::Time ScoringPlugin::runningTime

private

Absolute time specifying the start of the running state.

Definition at line 210 of file scoring_plugin.hh.

double ScoringPlugin::score = 0.0

protected

The score.

Definition at line 186 of file scoring_plugin.hh.

sdf::ElementPtr ScoringPlugin::sdf

private

Pointer to the SDF plugin element.

Definition at line 195 of file scoring_plugin.hh.

vmrc_gazebo::Task ScoringPlugin::taskMsg

private

The next task message to be published.

Definition at line 234 of file scoring_plugin.hh.

std::string ScoringPlugin::taskName = "undefined"

protected

The name of the task.

Definition at line 177 of file scoring_plugin.hh.

ros::Publisher ScoringPlugin::taskPub

private

Publisher for the task state.

Definition at line 243 of file scoring_plugin.hh.

std::string ScoringPlugin::taskState = "initial"

private

The task state.

Definition at line 231 of file scoring_plugin.hh.

bool ScoringPlugin::timedOut = false

private

Whether the current task has timed out or not.

Definition at line 225 of file scoring_plugin.hh.

std::string ScoringPlugin::topic = "/vmrc/task/info"

protected

Topic where the task stats are published.

Definition at line 183 of file scoring_plugin.hh.

gazebo::event::ConnectionPtr ScoringPlugin::updateConnection

protected

Pointer to the update event connection.

Definition at line 180 of file scoring_plugin.hh.

gazebo::physics::ModelPtr ScoringPlugin::vehicleModel

protected

Pointer to the vehicle to score.

Definition at line 192 of file scoring_plugin.hh.

std::string ScoringPlugin::vehicleName

protected

The name of the vehicle to score.

Definition at line 189 of file scoring_plugin.hh.

gazebo::physics::WorldPtr ScoringPlugin::world

protected

A world pointer.

Definition at line 174 of file scoring_plugin.hh.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation