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
	ScoringPlugin ()=default
	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	OnFinished () override
	Callback executed when the task state transition into "finished". More...

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

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

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

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

Private Attributes
std::vector< Gate >	gates
	All the gates. 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...

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 inherited from ScoringPlugin
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...

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:

<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> <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 84 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.