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

Detailed Description

Definition at line 43 of file fasr.cc.

Member Enumeration Documentation

anonymous enum

private

Enumerator
MODE_WORK
MODE_DOCK
MODE_UNDOCK
MODE_QUEUE

Definition at line 213 of file fasr2.cc.

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.

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
	)

inlinestatic

Definition at line 424 of file fasr.cc.

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

inlinestatic

Definition at line 941 of file fasr2.cc.

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

inlinestatic

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
	)

inlinestatic

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
	)

inlinestatic

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
	)

inlinestatic

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.

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

staticprivate

Definition at line 234 of file fasr2.cc.

const unsigned int Robot::map_height

staticprivate

Definition at line 233 of file fasr2.cc.

Model * Robot::map_model

staticprivate

Definition at line 235 of file fasr2.cc.

const unsigned int Robot::map_width

staticprivate

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

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

staticprivate

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.

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

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Private Types

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation