An algorithm for following a target. More...

#include <Follow.h>

Inheritance diagram for gams::algorithms::Follow:

Public Member Functions
	Follow (const std::string &target, const std::vector< double > &offset, madara::knowledge::KnowledgeBase knowledge=0, platforms::BasePlatform platform=0, variables::Sensors sensors=0, variables::Self self=0)
	Constructor. More...

	~Follow ()
	Destructor. More...

virtual int	analyze (void)
	Analyzes environment, platform, or other information. More...

virtual int	execute (void)
	Plans the next execution of the algorithm. More...

variables::Agents *	get_agents (void)
	Gets the list of agents. More...

variables::AlgorithmStatus *	get_algorithm_status (void)
	Gets algorithm status variables. More...

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

platforms::BasePlatform *	get_platform (void)
	Gets the platform. More...

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

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

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

virtual int	plan (void)
	Plans the next execution of the algorithm. More...

virtual void	set_agents (variables::Agents *agents)
	Sets the list of agents in the swarm. More...

virtual void	set_platform (platforms::BasePlatform *platform)
	Sets the platform. More...

virtual void	set_self (variables::Self *self)
	Sets the map of sensor names to sensor information. More...

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

Protected Attributes
variables::Agents *	agents_
	the list of agents potentially participating in the algorithm More...

unsigned int	executions_
	number of executions More...

bool	had_valid_dest_orientation_
	keep track of whether we had previously calculated target orient More...

madara::knowledge::KnowledgeBase *	knowledge_
	provides access to the knowledge base More...

gams::pose::Orientation	last_dest_orientation
	last valid destination based orientation More...

pose::Position	last_location_
	keep track of last location More...

pose::Position	last_target_destination_
	current target location shared between analyze and execute More...

std::vector< double >	minimum_buffer_
	keep track of the minimum_buffer that should be maintained More...

bool	need_move_
	flag between analyze and execute indicating new move is necessary More...

std::vector< double >	offset_
	keep track of the offset that agent should be at More...

platforms::BasePlatform *	platform_
	provides access to the platform More...

variables::Self *	self_
	the algorithm's concept of self More...

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

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

variables::Agent	target_
	location of agent to follow More...

pose::Position	target_destination_
	current target location shared between analyze and execute More...

pose::Position	target_last_location_
	keep track of last leader/target location More...

pose::Position	target_location_
	current target location shared between analyze and execute More...

pose::Orientation	target_orientation_
	keep track of the target orientation More...

Detailed Description

An algorithm for following a target.

Definition at line 74 of file Follow.h.

Constructor & Destructor Documentation

gams::algorithms::Follow::Follow	(	const std::string &	target,
		const std::vector< double > &	offset,
		madara::knowledge::KnowledgeBase *	knowledge = `0`,
		platforms::BasePlatform *	platform = `0`,
		variables::Sensors *	sensors = `0`,
		variables::Self *	self = `0`
	)

Constructor.

Parameters

target	full agent name the agent should follow
offset	offset from target.location to move to
knowledge	the context containing variables and values
platform	the underlying platform the algorithm will use
sensors	map of sensor names to sensor information
self	self-referencing variables

gams::algorithms::Follow::~Follow ( )

Destructor.

Member Function Documentation

virtual int gams::algorithms::Follow::analyze ( void )

virtual

Analyzes environment, platform, or other information.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

virtual int gams::algorithms::Follow::execute ( void )

virtual

Plans the next execution of the algorithm.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

variables::Agents* gams::algorithms::BaseAlgorithm::get_agents ( void )

inherited

Gets the list of agents.

variables::AlgorithmStatus* gams::algorithms::BaseAlgorithm::get_algorithm_status ( void )

inherited

Gets algorithm status variables.

madara::knowledge::KnowledgeBase* gams::algorithms::BaseAlgorithm::get_knowledge_base ( void )

inherited

Gets the knowledge base.

platforms::BasePlatform* gams::algorithms::BaseAlgorithm::get_platform ( void )

inherited

Gets the platform.

variables::Self* gams::algorithms::BaseAlgorithm::get_self ( void )

inherited

Gets self-defined variables.

variables::Sensors* gams::algorithms::BaseAlgorithm::get_sensors ( void )

inherited

Gets the available sensor information.

void gams::algorithms::Follow::operator= ( const Follow & rhs )

Assignment operator.

Parameters

rhs	values to copy

virtual int gams::algorithms::Follow::plan ( void )

virtual

Plans the next execution of the algorithm.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

virtual void gams::algorithms::BaseAlgorithm::set_agents ( variables::Agents * agents )

virtualinherited

Sets the list of agents in the swarm.

Parameters

agents list of agents

virtual void gams::algorithms::BaseAlgorithm::set_platform ( platforms::BasePlatform * platform )

virtualinherited

Sets the platform.

Parameters

platform the underlying platform the algorithm will use

virtual void gams::algorithms::BaseAlgorithm::set_self ( variables::Self * self )

virtualinherited

Sets the map of sensor names to sensor information.

Parameters

self	pointer to self-referencing variables container

virtual void gams::algorithms::BaseAlgorithm::set_sensors ( variables::Sensors * sensors )

virtualinherited

Sets the map of sensor names to sensor information.

Parameters

sensors map of sensor names to sensor information

Member Data Documentation

variables::Agents* gams::algorithms::BaseAlgorithm::agents_

protectedinherited

the list of agents potentially participating in the algorithm

Definition at line 201 of file BaseAlgorithm.h.

unsigned int gams::algorithms::BaseAlgorithm::executions_

protectedinherited

number of executions

Definition at line 204 of file BaseAlgorithm.h.

bool gams::algorithms::Follow::had_valid_dest_orientation_

protected

keep track of whether we had previously calculated target orient

Definition at line 155 of file Follow.h.

madara::knowledge::KnowledgeBase* gams::algorithms::BaseAlgorithm::knowledge_

protectedinherited

provides access to the knowledge base

Definition at line 207 of file BaseAlgorithm.h.

gams::pose::Orientation gams::algorithms::Follow::last_dest_orientation

protected

last valid destination based orientation

Definition at line 158 of file Follow.h.

pose::Position gams::algorithms::Follow::last_location_

protected

keep track of last location

Definition at line 137 of file Follow.h.

pose::Position gams::algorithms::Follow::last_target_destination_

protected

current target location shared between analyze and execute

Definition at line 134 of file Follow.h.

std::vector<double> gams::algorithms::Follow::minimum_buffer_

protected

keep track of the minimum_buffer that should be maintained

Definition at line 149 of file Follow.h.

bool gams::algorithms::Follow::need_move_

protected

flag between analyze and execute indicating new move is necessary

Definition at line 152 of file Follow.h.

std::vector<double> gams::algorithms::Follow::offset_

protected

keep track of the offset that agent should be at

Definition at line 146 of file Follow.h.

platforms::BasePlatform* gams::algorithms::BaseAlgorithm::platform_

protectedinherited

provides access to the platform

Definition at line 210 of file BaseAlgorithm.h.

variables::Self* gams::algorithms::BaseAlgorithm::self_

protectedinherited

the algorithm's concept of self

Definition at line 213 of file BaseAlgorithm.h.

variables::Sensors* gams::algorithms::BaseAlgorithm::sensors_

protectedinherited

provides access to sensor information

Definition at line 216 of file BaseAlgorithm.h.

variables::AlgorithmStatus gams::algorithms::BaseAlgorithm::status_

protectedinherited

provides access to status information for this platform

Definition at line 219 of file BaseAlgorithm.h.

variables::Agent gams::algorithms::Follow::target_

protected

location of agent to follow

Definition at line 125 of file Follow.h.

pose::Position gams::algorithms::Follow::target_destination_

protected

current target location shared between analyze and execute

Definition at line 131 of file Follow.h.

pose::Position gams::algorithms::Follow::target_last_location_

protected

keep track of last leader/target location

Definition at line 140 of file Follow.h.

pose::Position gams::algorithms::Follow::target_location_

protected

current target location shared between analyze and execute

Definition at line 128 of file Follow.h.

pose::Orientation gams::algorithms::Follow::target_orientation_

protected

keep track of the target orientation

Definition at line 143 of file Follow.h.

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

src/gams/algorithms/Follow.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation