54 #ifndef _GAMS_ALGORITHMS_SPELL_H_
55 #define _GAMS_ALGORITHMS_SPELL_H_
67 #include "madara/knowledge/containers/Integer.h"
68 #include "madara/knowledge/containers/Barrier.h"
100 const std::string &group, std::string text,
102 double height,
double width,
104 const std::string & barrier,
105 madara::knowledge::KnowledgeBase * knowledge = 0,
187 const madara::knowledge::KnowledgeMap & args,
188 madara::knowledge::KnowledgeBase * knowledge,
Copyright(c) 2014 Carnegie Mellon University.
Copyright(c) 2014 Carnegie Mellon University.
Copyright(c) 2016 Carnegie Mellon University.
Copyright(c) 2014 Carnegie Mellon University.
Copyright(c) 2014 Carnegie Mellon University.
Base class for algorithm factories that classes derived from.
The base class that algorithms in GAMS use.
A factory class for creating Spell algorithms.
virtual BaseAlgorithm * create(const madara::knowledge::KnowledgeMap &args, madara::knowledge::KnowledgeBase *knowledge, platforms::BasePlatform *platform, variables::Sensors *sensors, variables::Self *self, variables::Agents *agents)
Creates a Spell Algorithm.
size_t step_
the step count in the waypoint list
groups::GroupFactoryRepository group_factory_
factory for interacting with user-defined groups
Spell(const std::string &group, std::string text, pose::Pose origin, double height, double width, double buffer, const std::string &barrier, madara::knowledge::KnowledgeBase *knowledge=0, platforms::BasePlatform *platform=0, variables::Sensors *sensors=0, variables::Self *self=0)
Constructor.
virtual int plan(void)
Plans the next execution of the algorithm.
double width_
the width of the letters to spell in meters
virtual int analyze(void)
Analyzes environment, platform, or other information.
pose::Position next_pos_
the next position to go to
double buffer_
the expected buffer between letters in meters
double height_
the height of the letters to spell in meters
madara::knowledge::containers::Barrier barrier_
a barrier between all agents before steps can proceed
groups::AgentVector group_members_
a convenience list of all current group members
virtual int execute(void)
Plans the next execution of the algorithm.
groups::GroupBase * group_
the group that the user wishes the algorithm to use
pose::Pose origin_
the origin of the spelled word/phrase
Base class for a group of agents.
A repository for group factories.
A container for self referencing information.
std::vector< std::string > AgentVector
A vector of agent names.
std::map< std::string, Sensor * > Sensors
a map of sensor names to the sensor information
std::vector< Agent > Agents
An array of agent knowledge.
Contains all GAMS-related tools, classes and code.
Copyright (c) 2015-2018 Carnegie Mellon University.