AbstractDynamicWindow Class Reference

#include <pilot/AbstractDynamicWindow.h>

Inheritance diagram for AbstractDynamicWindow:

Classes
struct	BestAction
struct	Cell
struct	Config

Public Types
enum	Flags
typedef std::multimap< std::string, std::string >	ChannelNameMapping
typedef std::map< std::string, Status >	ChannelStatusMap
typedef std::map< std::string, Status >	StatusMap

Public Member Functions
	AbstractDynamicWindow ()
virtual Velocity2	planMotion ()
template<typename Reflector >
void	reflect (Reflector &r)
void	initialize (Pilot *pilot)
virtual void	setTask (boost::shared_ptr< navigation::Task > task)
virtual bool	reachedTasks ()
	Returns true, if all objectives have reached their task. More...
virtual bool	satisfied ()
	Returns true when all objectives are satisfied with the progress of their respective tasks. More...
virtual void	resetDissatisfaction ()
	Reset any kind of dissatisfaction. More...
virtual std::list< DissatisfactionReason >	getDissatisfactionReasons ()
	Returns reasons (strings) that caused the overall state of dissatisfaction. More...
virtual void	update ()
	is called before plan even if there is no plantime left More...
virtual void	plan (Duration plantime)
virtual void	updateRobotModel ()
	Update the robot model. Default implementation is empty. More...
void	addObjective (boost::shared_ptr< Objective > o, float weight)
	Adds a new objective to the dynamic window with the weight. More...
boost::shared_ptr< Objective >	getObjective (const std::string &name)
void	enableObjective (const std::string &name, bool enable)
	Returns the objective with the given name, if available. More...
robot::UnicycleBasedRobotModelPtr	getRobotModel ()
void	pauseModule ()
void	resumeModule ()
Pilot *	getPilot ()
const std::string &	getItemName () const
Class const &	getClass () const
void	enableSubscriberCallbacks (bool enable)
StatusManager &	getStatusManager ()
void	setHeartbeatInterval (const Duration &interval)
void	setName (const std::string &name)
Duration	getHeartbeatInterval () const
void	heartbeat ()
bool	hasHeartbeatTimeout () const
void	bootup (const std::string &message, const std::string &trText="")
void	bootupFinished ()
void	recoverFinished ()
void	recover (const std::string &message, const std::string &trText="")
void	ok (const std::string &category="")
bool	warning (const std::string &category, const std::string &message, const std::string &trText="")
bool	error (const std::string &category, const std::string &message, const std::string &trText="")
bool	setStatus (Status::StatusMode mode, const std::string &category, const std::string &message, const std::string &trText="")
Status::StatusMode	getStatus () const
StatusMap	getStatusMap () const
StatusManager::StatusMap	getStatusMap () override
StatusManager::StatusMap	getStatusMap () override
void	checkin (const ResourceName &fullname, AuthorityRuntimePtr runtime=AuthorityRuntimePtr())
void	checkin (const ResourceName &ns, const std::string &name, AuthorityRuntimePtr runtime=AuthorityRuntimePtr())
void	checkin (Authority &iParent, const ResourceName &ns, const std::string &name)
void	checkin (Authority &iParent, const std::string &name)
void	checkin (const ResourceName &fullname, AuthorityRuntimePtr runtime=AuthorityRuntimePtr())
void	checkin (const ResourceName &ns, const std::string &name, AuthorityRuntimePtr runtime=AuthorityRuntimePtr())
void	checkin (Authority &iParent, const ResourceName &ns, const std::string &name)
void	checkin (Authority &iParent, const std::string &name)
void	checkout ()
void	checkout ()
bool	isValid () const
bool	isValid () const
void	validate () const
void	validate () const
void	startWithParent (bool start)
void	startWithParent (bool start)
AuthorityRuntimePtr	getRuntime ()
AuthorityRuntimePtr	getRuntime ()
std::set< Authority *>	getChildren ()
std::set< Authority *>	getChildren ()
void	addImmediateHandler (DiagnosticRunnablePtr runnable)
void	addImmediateHandler (DiagnosticRunnablePtr runnable)
void	addImmediateHandlerFunction (F &&fn)
void	addImmediateHandlerFunction (F &&fn)
void	addFinalizeHandler (DiagnosticRunnablePtr runnable)
void	addFinalizeHandler (DiagnosticRunnablePtr runnable)
void	addFinalizeHandlerFunction (F &&fn)
void	addFinalizeHandlerFunction (F &&fn)
TimerPtr	createTimer (Duration period, TimerCallback callback, bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, TimerCallback callback, bool oneshot=false)
TimerPtr	createTimer (Duration period, void(Class::*f)(const Timer &), Class *obj, bool oneshot=false)
TimerPtr	createTimer (Duration period, void(Class::*f)(const Timer &), bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, void(Class::*f)(const Timer &), Class *obj, bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, void(Class::*f)(const Timer &), bool oneshot=false)
TimerPtr	createTimer (Time time, TimerCallback callback)
TimerPtr	createTimer (Time time, void(Class::*f)(const Timer &), Class *obj)
TimerPtr	createTimer (Time time, void(Class::*f)(const Timer &))
TimerPtr	createTimer (Duration period, TimerCallback callback, bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, TimerCallback callback, bool oneshot=false)
TimerPtr	createTimer (Duration period, void(Class::*f)(const Timer &), Class *obj, bool oneshot=false)
TimerPtr	createTimer (Duration period, void(Class::*f)(const Timer &), bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, void(Class::*f)(const Timer &), Class *obj, bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, void(Class::*f)(const Timer &), bool oneshot=false)
TimerPtr	createTimer (Time time, TimerCallback callback)
TimerPtr	createTimer (Time time, void(Class::*f)(const Timer &), Class *obj)
TimerPtr	createTimer (Time time, void(Class::*f)(const Timer &))
void	removeTimer (TimerPtr timer)
void	removeTimer (TimerPtr timer)
void	start () override
void	start () override
void	stop () override
void	stop () override
bool	spin (const Duration &maxWait=Duration::infinity())
bool	spin (const Duration &maxWait=Duration::infinity())
bool	hasWork (Time horizon=Time::now()) const
bool	hasWork (Time horizon=Time::now()) const
bool	hasUnrecoverableFailure () const override
bool	hasUnrecoverableFailure () const override
bool	isStarted () const override
bool	isStarted () const override
bool	isRunning () const override
bool	isRunning () const override
std::string	resolveName (const std::string &name) const
std::string	resolveName (const std::string &name) const
std::string	resolveServiceName (const std::string &name) const
std::string	resolveServiceName (const std::string &name) const
Channel< T >	publish (const std::string &channelID)
Channel< T >	publish (const std::string &channelID, const Typename &type)
Channel< T >	publish (const std::string &channelID)
Channel< T >	publish (const std::string &channelID, const Typename &type)
void	unpublish (const std::string &channelID)
void	unpublish (const std::string &channelID)
Channel< T >	subscribe (const std::string &channelID, const Duration &storageDuration=Duration::seconds(0))
Channel< T >	subscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, bool independentThread)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, bool independentThread)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), bool independentThread)
Channel< T >	subscribe (const std::string &channelID, const Duration &storageDuration=Duration::seconds(0))
Channel< T >	subscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, bool independentThread)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, bool independentThread)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, const Duration &storageDuration=Duration::seconds(0))
Channel< T >	publishAndSubscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, const Duration &storageDuration=Duration::seconds(0))
Channel< T >	publishAndSubscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), bool independentThread)
Channel< T >	subscribeInterval (const std::string &channelID, boost::function< void(ChannelReadInterval< T >)> fn, const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeInterval (const std::string &channelID, void(Class::*f)(ChannelReadInterval< T >), Class *obj, const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeInterval (const std::string &channelID, void(Class::*f)(ChannelReadInterval< T >), const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeInterval (const std::string &channelID, boost::function< void(ChannelReadInterval< T >)> fn, const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeInterval (const std::string &channelID, void(Class::*f)(ChannelReadInterval< T >), Class *obj, const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeInterval (const std::string &channelID, void(Class::*f)(ChannelReadInterval< T >), const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeIntervalByElements (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeIntervalByElements (const std::string &channelID, boost::function< void(ChannelRead< T >)>, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeIntervalByElements (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeIntervalByElements (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeIntervalByElements (const std::string &channelID, boost::function< void(ChannelRead< T >)>, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeIntervalByElements (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch())
ChannelRead< T >	waitForData (Channel< T > channel, Duration timeout=Duration::infinity()) const
ChannelRead< T >	waitForData (Channel< T > channel, Duration timeout=Duration::infinity()) const
void	unsubscribe (const std::string &channelID)
void	unsubscribe (const std::string &channelID)
void	unsubscribe (const std::string &channelID)
void	unsubscribe (const std::string &channelID)
Channel< T >	getChannel (const std::string &channelID)
Channel< T >	getChannel (const std::string &channelID)
bool	isSubscribedOn (const std::string &channelID) const
bool	isSubscribedOn (const std::string &channelID) const
	MIRA_DEPRECATED ("Please use isSubscribedOn() instead", bool hasSubscribedOn(const std::string &channelID) const)
	MIRA_DEPRECATED ("Please use isSubscribedOn() instead", bool hasSubscribedOn(const std::string &channelID) const)
bool	hasPublished (const std::string &channelID) const
bool	hasPublished (const std::string &channelID) const
bool	doesChannelExist (const std::string &channelID) const
bool	doesChannelExist (const std::string &channelID) const
bool	waitForChannel (const std::string &channelID, const Duration &timeout=Duration::infinity()) const
bool	waitForChannel (const std::string &channelID, const Duration &timeout=Duration::infinity()) const
bool	isTransformAvailable (const std::string &targetID, const std::string &sourceID) const
bool	isTransformAvailable (const std::string &targetID, const std::string &sourceID, const std::string &fixedID) const
bool	isTransformAvailable (const std::string &targetID, const std::string &sourceID) const
bool	isTransformAvailable (const std::string &targetID, const std::string &sourceID, const std::string &fixedID) const
bool	waitForTransform (const std::string &targetID, const std::string &sourceID, Duration timeout=Duration::invalid()) const
bool	waitForTransform (const std::string &targetID, const std::string &sourceID, const std::string &fixedID, Duration timeout=Duration::invalid()) const
bool	waitForTransform (const std::string &targetID, const std::string &sourceID, Duration timeout=Duration::invalid()) const
bool	waitForTransform (const std::string &targetID, const std::string &sourceID, const std::string &fixedID, Duration timeout=Duration::invalid()) const
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, boost::function< void(Transform, Time)> fn, Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Class *obj, Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, boost::function< void(Transform, Time)> fn)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Class *obj)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time))
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, boost::function< void(Transform, Time)> fn, Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Class *obj, Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, boost::function< void(Transform, Time)> fn)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Class *obj)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time))
Transform	getTransform (const std::string &targetID, const std::string &sourceID, const Time &time, Filter &&filter) const
Transform	getTransform (const std::string &targetID, const std::string &sourceID, const Time &time=Time()) const
Transform	getTransform (const std::string &targetID, const Time &targetTime, const std::string &sourceID, const Time &sourceTime, const std::string &fixedID, Filter &&filter) const
Transform	getTransform (const std::string &targetID, const Time &targetTime, const std::string &sourceID, const Time &sourceTime, const std::string &fixedID) const
Transform	getTransform (const TransformDesc &desc, const Time &time, Filter &&filter) const
Transform	getTransform (const TransformDesc &desc, const Time &time=Time()) const
Transform	getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime, Filter &&filter) const
Transform	getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime) const
Transform	getTransform (const std::string &targetID, const std::string &sourceID, const Time &time, Filter &&filter) const
Transform	getTransform (const std::string &targetID, const std::string &sourceID, const Time &time=Time()) const
Transform	getTransform (const std::string &targetID, const Time &targetTime, const std::string &sourceID, const Time &sourceTime, const std::string &fixedID, Filter &&filter) const
Transform	getTransform (const std::string &targetID, const Time &targetTime, const std::string &sourceID, const Time &sourceTime, const std::string &fixedID) const
Transform	getTransform (const TransformDesc &desc, const Time &time, Filter &&filter) const
Transform	getTransform (const TransformDesc &desc, const Time &time=Time()) const
Transform	getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime, Filter &&filter) const
Transform	getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime) const
FrameworkTransformerNode *	getTransformNode (const std::string &frameID) const
FrameworkTransformerNode *	getTransformNode (const std::string &frameID) const
TransformDesc	prepareTransform (const std::string &targetID, const std::string &sourceID) const
TransformDesc	prepareTransform (const std::string &targetID, const std::string &sourceID, const std::string &fixedID) const
TransformDesc	prepareTransform (const std::string &targetID, const std::string &sourceID) const
TransformDesc	prepareTransform (const std::string &targetID, const std::string &sourceID, const std::string &fixedID) const
void	publishTransform (const std::string &frameID, const Transform &transform, const Time &time) const
void	publishTransform (const std::string &frameID, const Transform &transform, const Time &time) const
void	publishTransformIndirect (const std::string &frameID, const std::string &targetID, const std::string &sourceID, const Transform &transform, const Time &time, Filter &&filter=NearestNeighborInterpolator()) const
void	publishTransformIndirect (const std::string &frameID, const std::string &targetID, const std::string &sourceID, const Transform &transform, const Time &time, Filter &&filter=NearestNeighborInterpolator()) const
void	addTransformLink (const std::string &childID, const std::string &parentID) const
void	addTransformLink (const std::string &childID, const std::string &parentID, FrameworkTransformerNode::Type type) const
void	addTransformLink (const std::string &childID, const std::string &parentID) const
void	addTransformLink (const std::string &childID, const std::string &parentID, FrameworkTransformerNode::Type type) const
void	publishService (const std::string &name, Service &iService, RPCHandlerPtr handler=RPCHandlerPtr())
void	publishService (Service &iService, RPCHandlerPtr handler=RPCHandlerPtr())
void	publishService (const std::string &name, Service &iService, RPCHandlerPtr handler=RPCHandlerPtr())
void	publishService (Service &iService, RPCHandlerPtr handler=RPCHandlerPtr())
void	unpublishService ()
void	unpublishService (const std::string &name)
void	unpublishService ()
void	unpublishService (const std::string &name)
RPCFuture< R >	callService (const std::string &iService, const std::string &method, ARGS &&... args) const
RPCFuture< R >	callService (const std::string &iService, const std::string &method, ARGS &&... args) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const json::Value &jsonRequest) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &jsonString) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &service, const std::string &method, const json::Value &params=json::Value()) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &service, const std::string &method, const std::string &params) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const RPCCallDefinition &rpc) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const json::Value &jsonRequest) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &jsonString) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &service, const std::string &method, const json::Value &params=json::Value()) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &service, const std::string &method, const std::string &params) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const RPCCallDefinition &rpc) const
ServiceCall< F >	createServiceCall (const std::string &service, std::string method, bool waitTillExists=true, bool showBootupMsg=true)
ServiceCall< F >	createServiceCall (const std::string &service, std::string method, bool waitTillExists=true, bool showBootupMsg=true)
bool	existsService (const std::string &name) const
bool	existsService (const std::string &name) const
bool	implementsInterface (const std::string &name, const std::string &interface) const
bool	implementsInterface (const std::string &name, const std::string &interface) const
bool	waitForService (const std::string &name, Duration timeout=Duration::invalid()) const
bool	waitForService (const std::string &name, Duration timeout=Duration::invalid()) const
std::string	waitForServiceInterface (const std::string &interface, Duration timeout=Duration::invalid()) const
std::string	waitForServiceInterface (const std::string &interface, Duration timeout=Duration::invalid()) const
std::list< std::string >	queryServicesForInterface (const std::string &interface) const
std::list< std::string >	queryServicesForInterface (const std::string &interface) const
void	registerCallbackForInterface (const std::string &interface, ServiceInterfaceHandler::Callback cb)
void	registerCallbackForInterface (const std::string &interface, void(Class::*f)(const std::string &, const std::string &), Class *obj)
void	registerCallbackForInterface (const std::string &interface, ServiceInterfaceHandler::Callback cb)
void	registerCallbackForInterface (const std::string &interface, void(Class::*f)(const std::string &, const std::string &), Class *obj)
boost::shared_ptr< PropertyNode >	getProperties () override
boost::shared_ptr< PropertyNode >	getProperties () override
std::set< std::string >	getPublishedChannels () override
std::set< std::string >	getPublishedChannels () override
std::set< std::string >	getSubscribedChannels () override
std::set< std::string >	getSubscribedChannels () override
std::set< std::string >	getServiceInterfaces () override
std::set< std::string >	getServiceInterfaces () override
ChannelNameMapping	getPublishedChannelNames () override
ChannelNameMapping	getPublishedChannelNames () override
ChannelNameMapping	getSubscribedChannelNames () override
ChannelNameMapping	getSubscribedChannelNames () override
ChannelStatusMap	getSubscribedChannelStatus () override
ChannelStatusMap	getSubscribedChannelStatus () override
std::string	getNamespace () const
std::string	getNamespace () const
std::string	getGlobalName () const
std::string	getGlobalName () const
std::string	getGlobalID () const
std::string	getGlobalID () const
std::string	getID () const
std::string	getID () const
std::string	getName () const
std::string	getName () const
const AuthorityDescription &	getDescription () const
const AuthorityDescription &	getDescription () const

Static Public Member Functions
static PseudoClass const &	CLASS ()

Public Attributes
	NORMAL
	ANONYMOUS
	HIDDEN
	INVISIBLE_PUBLISHER_SUBSCRIBER
	INTERNAL
	INDEPENDENT_SUBSCRIBER_THREAD
	INDEPENDENT_RPC_THREAD
	NO_MAIN_THREAD

Protected Types
typedef std::list< ObjectiveInfo >	Objectives
typedef std::map< std::string, RWAccessFlags >	RWAccessMap
typedef std::list< AbstractChannelSubscriberPtr >	SubscribePtrList

Protected Member Functions
virtual void	initialize ()
virtual void	buildCellLut ()=0
virtual void	resume ()
virtual void	pause ()
virtual void	updateRobotModel (bool updateObjectives)
void	prepareVote (float dt)
void	informDecision (const robot::PoseVelocityTrajectory &chosen, float dt)
robot::PoseVelocityTrajectory	generateTrajectory (Velocity2 v, const Velocity2 &targetv, float lookAheadTime)
virtual Class const &	internalGetClass () const=0
Channel< T >	toProxy (ConcreteChannel< T > *channel)
void	setChannelReadAccess (const std::string &channelID)
void	setChannelWriteAccess (const std::string &channelID)
void	removeChannelReadAccess (const std::string &channelID)
void	removeChannelWriteAccess (const std::string &channelID)
void	insertChannelNameMapping (AbstractAuthority::ChannelNameMapping &map, const std::string &local, const std::string &global)
void	eraseChannelNameMapping (AbstractAuthority::ChannelNameMapping &map, const std::string &local, const std::string &global)
void	remotePublishService (const std::string &service) const
PropertyTree	getPropertiesRPC ()
void	setProperty (const std::string &property, const std::string &value)
std::string	getProperty (const std::string &property) const
void	setPropertyJSON (const std::string &property, const json::Value &value)
json::Value	getPropertyJSON (const std::string &property) const

Protected Attributes
Config	mConfig
Objectives	mObjectives
Duration	mPlanningHorizon
Duration	mMinLookAhead
Duration	mMaxLookAhead
int	mTrajectorySamples
Duration	mMaxNoCommandTime
Time	mLastCommand
robot::UnicycleBasedRobotModelPtr	mRobotModel
AuthorityDescription	mDescription
boost::optional< Status >	mBootUpStatus
boost::optional< Status >	mRecoverStatus
Duration	mHeartbeatInterval
boost::optional< Time >	mLastHeartbeat
StatusMap	mStatusMap
std::string	mName

Member Typedef Documentation

Objectives

typedef std::list<ObjectiveInfo> Objectives

protectedinherited

Constructor & Destructor Documentation

AbstractDynamicWindow()

AbstractDynamicWindow

(

)

Member Function Documentation

initialize() [1/2]

virtual void initialize ( )

protectedvirtual

Reimplemented from AbstractObjectiveBasedPlanner.

planMotion()

virtual Velocity2 planMotion ( )

virtual

Implements AbstractPlanner.

buildCellLut()

virtual void buildCellLut ( )

protectedpure virtual

reflect()

void reflect ( Reflector &  r )

inlineinherited

initialize() [2/2]

void initialize ( Pilot *  pilot )

inherited

resume()

virtual void resume ( )

protectedvirtualinherited

Reimplemented from Module.

pause()

virtual void pause ( )

protectedvirtualinherited

Reimplemented from Module.

setTask()

virtual void setTask ( boost::shared_ptr< navigation::Task >  task )

virtualinherited

Implements AbstractPlanner.

reachedTasks()

virtual bool reachedTasks ( )

virtualinherited

Returns true, if all objectives have reached their task.

Implements AbstractPlanner.

satisfied()

virtual bool satisfied ( )

virtualinherited

Returns true when all objectives are satisfied with the progress of their respective tasks.

Implements AbstractPlanner.

resetDissatisfaction()

virtual void resetDissatisfaction ( )

virtualinherited

Reset any kind of dissatisfaction.

Implements AbstractPlanner.

getDissatisfactionReasons()

virtual std::list<DissatisfactionReason> getDissatisfactionReasons ( )

virtualinherited

Returns reasons (strings) that caused the overall state of dissatisfaction.

Implements AbstractPlanner.

update()

virtual void update ( )

virtualinherited

is called before plan even if there is no plantime left

Implements AbstractPlanner.

plan()

virtual void plan ( Duration  plantime )

virtualinherited

Implements AbstractPlanner.

updateRobotModel() [1/2]

virtual void updateRobotModel ( )

virtualinherited

Update the robot model. Default implementation is empty.

Reimplemented from AbstractPlanner.

updateRobotModel() [2/2]

virtual void updateRobotModel ( bool  updateObjectives )

protectedvirtualinherited

addObjective()

void addObjective ( boost::shared_ptr< Objective >  o, float  weight  )

inherited

Adds a new objective to the dynamic window with the weight.

Note

: The objective MUST NOT have been assigned to any other dynamic window or motion planner, otherwise the behavior is undefined.

getObjective()

boost::shared_ptr<Objective> getObjective ( const std::string &  name )

inherited

enableObjective()

void enableObjective ( const std::string &  name, bool  enable  )

inherited

Returns the objective with the given name, if available.

getRobotModel()

robot::UnicycleBasedRobotModelPtr getRobotModel ( )

inlineinherited

prepareVote()

void prepareVote ( float  dt )

protectedinherited

informDecision()

void informDecision ( const robot::PoseVelocityTrajectory &  chosen, float  dt  )

protectedinherited

generateTrajectory()

robot::PoseVelocityTrajectory generateTrajectory ( Velocity2  v, const Velocity2 &  targetv, float  lookAheadTime  )

protectedinherited

pauseModule()

void pauseModule ( )

inherited

resumeModule()

void resumeModule ( )

inherited

getPilot()

Pilot* getPilot ( )

inlineinherited

getItemName()

const std::string& getItemName ( ) const

inlineinherited

Member Data Documentation

mConfig

Config mConfig

protected

mObjectives

Objectives mObjectives

protectedinherited

mPlanningHorizon

Duration mPlanningHorizon

protectedinherited

mMinLookAhead

Duration mMinLookAhead

protectedinherited

mMaxLookAhead

Duration mMaxLookAhead

protectedinherited

mTrajectorySamples

int mTrajectorySamples

protectedinherited

mMaxNoCommandTime

Duration mMaxNoCommandTime

protectedinherited

mLastCommand

Time mLastCommand

protectedinherited

mRobotModel

robot::UnicycleBasedRobotModelPtr mRobotModel

protectedinherited

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

• plugins/DynamicWindow/include/pilot/AbstractDynamicWindow.h