The base platform for all platforms to use. More...

#include <BasePlatform.h>

Inheritance diagram for gams::platforms::BasePlatform:

Public Member Functions
	BasePlatform (madara::knowledge::KnowledgeBase knowledge=0, variables::Sensors sensors=0, variables::Self *self=0)
	Constructor. More...

virtual	~BasePlatform ()
	Destructor. More...

virtual int	analyze (void)=0
	Analyzes platform information. More...

virtual double	get_accuracy (void) const
	Gets the position accuracy in meters. More...

virtual const pose::ReferenceFrame &	get_frame (void) const
	Method for returning the platform's current frame. More...

virtual std::string	get_id () const =0
	Gets the unique identifier of the platform. More...

madara::knowledge::KnowledgeBase *	get_knowledge_base (void) const
	Gets the knowledge base. More...

pose::Position	get_location () const
	Gets Location of platform, within its parent frame. More...

virtual double	get_min_sensor_range () const
	Gets sensor radius. More...

virtual double	get_move_speed () const
	Gets move speed. More...

virtual std::string	get_name () const =0
	Gets the name of the platform. More...

pose::Orientation	get_orientation () const
	Gets Orientation of platform, within its parent frame. More...

variables::PlatformStatus *	get_platform_status (void)
	Gets platform status information. More...

const variables::PlatformStatus *	get_platform_status (void) const
	Gets platform status information(const version) More...

pose::Pose	get_pose () const
	Gets Pose of platform, within its parent frame. More...

utility::Position *	get_position ()
	Gets GPS position. More...

variables::Self *	get_self (void) const
	Gets self-referencing variables. More...

virtual const variables::Sensor &	get_sensor (const std::string &name) const
	Gets a sensor. More...

virtual void	get_sensor_names (variables::SensorNames &sensors) const
	Fills a list of sensor names with sensors available on the platform. More...

variables::Sensors *	get_sensors (void) const
	Gets the available sensor information. More...

virtual int	home (void)
	Instructs the agent to return home. More...

virtual int	land (void)
	Instructs the agent to land. More...

virtual int	move (const pose::Position &target)
	Moves the platform to a location. More...

virtual int	move (const pose::Position &target, const pose::PositionBounds &bounds)
	Moves the platform to a location. More...

int	move (const pose::Position &target, double epsilon)
	Moves the platform to a location. More...

void	operator= (const BasePlatform &rhs)
	Assignment operator. More...

virtual int	orient (const pose::Orientation &target)
	Rotates the platform to match a given angle. More...

virtual int	orient (const pose::Orientation &target, const pose::OrientationBounds &bounds)
	Rotates the platform to match a given angle. More...

int	orient (const pose::Orientation &target, double epsilon)
	Rotates the platform to match a given angle. More...

virtual void	pause_move (void)
	Pauses movement, keeps source and dest at current values. More...

virtual int	pose (const pose::Pose &target)
	Moves the platform to a pose(location and orientation) More...

virtual int	pose (const pose::Pose &target, const pose::PoseBounds &bounds)
	Moves the platform to a pose(location and orientation) More...

int	pose (const pose::Pose &target, double loc_epsilon, double rot_epsilon=M_PI/16)
	Moves the platform to a pose(location and orientation) More...

virtual void	resume_move (void)
	Resumes movement status flags. More...

virtual void	resume_orientation (void)
	Resumes orientation status flags. More...

virtual int	sense (void)=0
	Polls the sensor environment for useful information. More...

void	set_knowledge (madara::knowledge::KnowledgeBase *rhs)
	Sets the knowledge base to use for the platform. More...

virtual void	set_move_speed (const double &speed)
	Set move speed. More...

virtual void	set_sensors (variables::Sensors *sensors)
	Sets the map of sensor names to sensor information. More...

virtual void	stop_move (void)
	Stops movement, resetting source and dest to current location. More...

virtual void	stop_orientation (void)
	Stops orientation, resetting source and dest angles to current angle. More...

virtual int	takeoff (void)
	Instructs the agent to take off. More...

Protected Attributes
madara::knowledge::KnowledgeBase *	knowledge_
	provides access to variables and values More...

double	move_speed_
	movement speed for platform in meters/second More...

variables::Self *	self_
	provides access to self state More...

variables::Sensors *	sensors_
	provides access to a sensor More...

variables::PlatformStatus	status_
	provides access to status information for this platform More...

Friends
class	controllers::BaseController

class	controllers::Multicontroller

Detailed Description

The base platform for all platforms to use.

Definition at line 112 of file BasePlatform.h.

Constructor & Destructor Documentation

◆ BasePlatform()

gams::platforms::BasePlatform::BasePlatform	(	madara::knowledge::KnowledgeBase *	knowledge = `0`,
		variables::Sensors *	sensors = `0`,
		variables::Self *	self = `0`
	)

Constructor.

Parameters

knowledge	context containing variables and values
sensors	map of sensor names to sensor information
self	self referencing variables for the agent

◆ ~BasePlatform()

virtual gams::platforms::BasePlatform::~BasePlatform ( )

virtual

Destructor.

Member Function Documentation

◆ analyze()

virtual int gams::platforms::BasePlatform::analyze ( void )

pure virtual

Analyzes platform information.

Returns: bitmask status of the platform.

See also: PlatformAnalyzeStatus.

Implemented in gams::platforms::NullPlatform, gams::platforms::JavaPlatform, gams::platforms::DebugPlatform, and gams::platforms::PlatformCollection.

◆ get_accuracy()

virtual double gams::platforms::BasePlatform::get_accuracy ( void ) const

virtual

Gets the position accuracy in meters.

Returns: position accuracy

Reimplemented in gams::platforms::NullPlatform, gams::platforms::JavaPlatform, gams::platforms::DebugPlatform, and gams::platforms::PlatformCollection.

◆ get_frame()

virtual const pose::ReferenceFrame& gams::platforms::BasePlatform::get_frame ( void ) const

virtual

Method for returning the platform's current frame.

By default, returns pose::default_frame()

Returns: frame that the platform's coordinate system is operating in

◆ get_id()

virtual std::string gams::platforms::BasePlatform::get_id ( ) const

pure virtual

Gets the unique identifier of the platform.

This should be an alphanumeric identifier that can be used as part of a MADARA variable(e.g. vrep_ant, autonomous_snake, etc.)

Implemented in gams::platforms::NullPlatform, gams::platforms::JavaPlatform, gams::platforms::DebugPlatform, and gams::platforms::PlatformCollection.

◆ get_knowledge_base()

madara::knowledge::KnowledgeBase* gams::platforms::BasePlatform::get_knowledge_base ( void ) const

Gets the knowledge base.

Returns: the knowledge base referenced by the algorithm and platform

◆ get_location()

pose::Position gams::platforms::BasePlatform::get_location ( ) const

Gets Location of platform, within its parent frame.

Returns: Location of platform

◆ get_min_sensor_range()

virtual double gams::platforms::BasePlatform::get_min_sensor_range ( ) const

virtual

Gets sensor radius.

Returns: minimum radius of all available sensors for this platform

◆ get_move_speed()

virtual double gams::platforms::BasePlatform::get_move_speed ( ) const

virtual

Gets move speed.

Reimplemented in gams::platforms::NullPlatform, gams::platforms::JavaPlatform, gams::platforms::DebugPlatform, and gams::platforms::PlatformCollection.

◆ get_name()

virtual std::string gams::platforms::BasePlatform::get_name ( ) const

pure virtual

Gets the name of the platform.

Implemented in gams::platforms::NullPlatform, gams::platforms::JavaPlatform, gams::platforms::DebugPlatform, and gams::platforms::PlatformCollection.

◆ get_orientation()

pose::Orientation gams::platforms::BasePlatform::get_orientation ( ) const

Gets Orientation of platform, within its parent frame.

Returns: Location of platform

◆ get_platform_status() [1/2]

variables::PlatformStatus* gams::platforms::BasePlatform::get_platform_status ( void )

Gets platform status information.

Returns: platform status info

◆ get_platform_status() [2/2]

const variables::PlatformStatus* gams::platforms::BasePlatform::get_platform_status ( void ) const

Gets platform status information(const version)

Returns: platform status info

◆ get_pose()

pose::Pose gams::platforms::BasePlatform::get_pose ( ) const

Gets Pose of platform, within its parent frame.

Returns: Location of platform

◆ get_position()

utility::Position* gams::platforms::BasePlatform::get_position ( )

Gets GPS position.

Returns: GPS location of platform

◆ get_self()

variables::Self* gams::platforms::BasePlatform::get_self ( void ) const

Gets self-referencing variables.

Returns: self-referencing information like id and agent attributes

◆ get_sensor()

virtual const variables::Sensor& gams::platforms::BasePlatform::get_sensor ( const std::string & name ) const

virtual

Gets a sensor.

Parameters

name	identifier of sensor to get

Returns: Sensor object

◆ get_sensor_names()

virtual void gams::platforms::BasePlatform::get_sensor_names ( variables::SensorNames & sensors ) const

virtual

Fills a list of sensor names with sensors available on the platform.

Parameters

sensors list of sensors to fill

◆ get_sensors()

variables::Sensors* gams::platforms::BasePlatform::get_sensors ( void ) const

Gets the available sensor information.

Returns: sensor information

◆ home()

virtual int gams::platforms::BasePlatform::home ( void )

virtual

Instructs the agent to return home.

Returns: the status of the home operation,

See also: PlatformReturnValues

Reimplemented in gams::platforms::NullPlatform, gams::platforms::JavaPlatform, gams::platforms::DebugPlatform, and gams::platforms::PlatformCollection.

◆ land()

virtual int gams::platforms::BasePlatform::land ( void )

virtual

Instructs the agent to land.

Returns: the status of the land operation,

See also: PlatformReturnValues

Reimplemented in gams::platforms::NullPlatform, gams::platforms::JavaPlatform, gams::platforms::DebugPlatform, and gams::platforms::PlatformCollection.

◆ move() [1/3]

virtual int gams::platforms::BasePlatform::move ( const pose::Position & target )

inlinevirtual

Moves the platform to a location.

Parameters

location the coordinates to move to

Returns: the status of the move operation,

See also: PlatformReturnValues

Definition at line 230 of file BasePlatform.h.

◆ move() [2/3]

virtual int gams::platforms::BasePlatform::move	(	const pose::Position &	target,
		const pose::PositionBounds &	bounds
	)

virtual

Moves the platform to a location.

Parameters

location	the coordinates to move to
bounds	object to compute if platform has arrived

Returns: the status of the move operation,

See also: PlatformReturnValues

Reimplemented in gams::platforms::PlatformCollection, gams::platforms::NullPlatform, gams::platforms::JavaPlatform, and gams::platforms::DebugPlatform.

◆ move() [3/3]

int gams::platforms::BasePlatform::move	(	const pose::Position &	target,
		double	epsilon
	)

inline

Moves the platform to a location.

Parameters

location	the coordinates to move to
epsilon	approximation value

Returns: the status of the move operation,

See also: PlatformReturnValues

Definition at line 249 of file BasePlatform.h.

◆ operator=()

void gams::platforms::BasePlatform::operator= ( const BasePlatform & rhs )

Assignment operator.

Parameters

rhs	values to copy

◆ orient() [1/3]

virtual int gams::platforms::BasePlatform::orient ( const pose::Orientation & target )

inlinevirtual

Rotates the platform to match a given angle.

Parameters

target the orientation to move to

Returns: the status of the orient,

See also: PlatformReturnValues

Definition at line 258 of file BasePlatform.h.

◆ orient() [2/3]

virtual int gams::platforms::BasePlatform::orient	(	const pose::Orientation &	target,
		const pose::OrientationBounds &	bounds
	)

virtual

Rotates the platform to match a given angle.

Parameters

target	the orientation to move to
bounds	object to compute if platform has arrived

Returns: the status of the orient,

See also: PlatformReturnValues

Reimplemented in gams::platforms::JavaPlatform.

◆ orient() [3/3]

int gams::platforms::BasePlatform::orient	(	const pose::Orientation &	target,
		double	epsilon
	)

inline

Rotates the platform to match a given angle.

Parameters

target	the orientation to move to
epsilon	approximation value

Returns: the status of the orient,

See also: PlatformReturnValues

Definition at line 277 of file BasePlatform.h.

◆ pause_move()

virtual void gams::platforms::BasePlatform::pause_move ( void )

virtual

Pauses movement, keeps source and dest at current values.

◆ pose() [1/3]

virtual int gams::platforms::BasePlatform::pose ( const pose::Pose & target )

inlinevirtual

Moves the platform to a pose(location and orientation)

This default implementation calls move and orient with the Location and Orientation portions of the target Pose. The return value is composed as follows: if either call returns ERROR(0), this call also returns ERROR(0). Otherwise, if BOTH calls return ARRIVED(2), this call also returns ARRIVED(2). Otherwise, this call returns MOVING(1)

Overrides might function differently.

Parameters

target the coordinates to move to

Returns: the status of the operation,

See also: PlatformReturnValues

Definition at line 296 of file BasePlatform.h.

◆ pose() [2/3]

virtual int gams::platforms::BasePlatform::pose	(	const pose::Pose &	target,
		const pose::PoseBounds &	bounds
	)

virtual

Moves the platform to a pose(location and orientation)

This default implementation calls move and orient with the Location and Orientation portions of the target Pose. The return value is composed as follows: if either call returns ERROR(0), this call also returns ERROR(0). Otherwise, if BOTH calls return ARRIVED(2), this call also returns ARRIVED(2). Otherwise, this call returns MOVING(1)

Overrides might function differently.

Parameters

target	the coordinates to move to
bounds	object to compute if platform has arrived

Returns: the status of the operation,

See also: PlatformReturnValues

◆ pose() [3/3]

int gams::platforms::BasePlatform::pose	(	const pose::Pose &	target,
		double	loc_epsilon,
		double	rot_epsilon = `M_PI/16`
	)

inline

Moves the platform to a pose(location and orientation)

This default implementation calls move and orient with the Location and Orientation portions of the target Pose. The return value is composed as follows: if either call returns ERROR(0), this call also returns ERROR(0). Otherwise, if BOTH calls return ARRIVED(2), this call also returns ARRIVED(2). Otherwise, this call returns MOVING(1)

Overrides might function differently.

Parameters

target	the coordinates to move to
loc_epsilon	approximation value for the location
rot_epsilon	approximation value for the orientation

Returns: the status of the operation,

See also: PlatformReturnValues

Definition at line 335 of file BasePlatform.h.

◆ resume_move()

virtual void gams::platforms::BasePlatform::resume_move ( void )

virtual

Resumes movement status flags.

◆ resume_orientation()

virtual void gams::platforms::BasePlatform::resume_orientation ( void )

virtual

Resumes orientation status flags.

◆ sense()

virtual int gams::platforms::BasePlatform::sense ( void )

pure virtual

Polls the sensor environment for useful information.

Returns: number of sensors updated/used

Implemented in gams::platforms::NullPlatform, gams::platforms::JavaPlatform, gams::platforms::DebugPlatform, and gams::platforms::PlatformCollection.

◆ set_knowledge()

void gams::platforms::BasePlatform::set_knowledge ( madara::knowledge::KnowledgeBase * rhs )

Sets the knowledge base to use for the platform.

Parameters

rhs	the new knowledge base to use

◆ set_move_speed()

virtual void gams::platforms::BasePlatform::set_move_speed ( const double & speed )

virtual

Set move speed.

Parameters

speed new speed in meters/second

Reimplemented in gams::platforms::NullPlatform, gams::platforms::JavaPlatform, gams::platforms::DebugPlatform, and gams::platforms::PlatformCollection.

◆ set_sensors()

virtual void gams::platforms::BasePlatform::set_sensors ( variables::Sensors * sensors )

virtual

Sets the map of sensor names to sensor information.

Parameters

sensors map of sensor names to sensor information

◆ stop_move()

virtual void gams::platforms::BasePlatform::stop_move ( void )

virtual

Stops movement, resetting source and dest to current location.

◆ stop_orientation()

virtual void gams::platforms::BasePlatform::stop_orientation ( void )

virtual

Stops orientation, resetting source and dest angles to current angle.

◆ takeoff()

virtual int gams::platforms::BasePlatform::takeoff ( void )

virtual

Instructs the agent to take off.

Returns: the status of the takeoff,

See also: PlatformReturnValues

Reimplemented in gams::platforms::NullPlatform, gams::platforms::JavaPlatform, gams::platforms::DebugPlatform, and gams::platforms::PlatformCollection.

Friends And Related Function Documentation

◆ controllers::BaseController

friend class controllers::BaseController

friend

Definition at line 116 of file BasePlatform.h.

◆ controllers::Multicontroller

friend class controllers::Multicontroller

friend

Definition at line 117 of file BasePlatform.h.

Member Data Documentation

◆ knowledge_

madara::knowledge::KnowledgeBase* gams::platforms::BasePlatform::knowledge_

protected

provides access to variables and values

Definition at line 439 of file BasePlatform.h.

◆ move_speed_

double gams::platforms::BasePlatform::move_speed_

protected

movement speed for platform in meters/second

Definition at line 436 of file BasePlatform.h.

◆ self_

variables::Self* gams::platforms::BasePlatform::self_

protected

provides access to self state

Definition at line 442 of file BasePlatform.h.

◆ sensors_

variables::Sensors* gams::platforms::BasePlatform::sensors_

protected

provides access to a sensor

Definition at line 445 of file BasePlatform.h.

◆ status_

variables::PlatformStatus gams::platforms::BasePlatform::status_

protected

provides access to status information for this platform

Definition at line 448 of file BasePlatform.h.

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

src/gams/platforms/BasePlatform.h

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ BasePlatform()

◆ ~BasePlatform()

Member Function Documentation

◆ analyze()

◆ get_accuracy()

◆ get_frame()

◆ get_id()

◆ get_knowledge_base()

◆ get_location()

◆ get_min_sensor_range()

◆ get_move_speed()

◆ get_name()

◆ get_orientation()

◆ get_platform_status() [1/2]

◆ get_platform_status() [2/2]

◆ get_pose()

◆ get_position()

◆ get_self()

◆ get_sensor()

◆ get_sensor_names()

◆ get_sensors()

◆ home()

◆ land()

◆ move() [1/3]

◆ move() [2/3]

◆ move() [3/3]

◆ operator=()

◆ orient() [1/3]

◆ orient() [2/3]

◆ orient() [3/3]

◆ pause_move()

◆ pose() [1/3]

◆ pose() [2/3]

◆ pose() [3/3]

◆ resume_move()

◆ resume_orientation()

◆ sense()

◆ set_knowledge()

◆ set_move_speed()

◆ set_sensors()

◆ stop_move()

◆ stop_orientation()

◆ takeoff()

Friends And Related Function Documentation

◆ controllers::BaseController

◆ controllers::Multicontroller

Member Data Documentation

◆ knowledge_

◆ move_speed_

◆ self_

◆ sensors_

◆ status_