#include <pilot/Objective.h>

Inheritance diagram for Objective:

[legend]

Classes
struct	Vote

Public Types
enum	Permit { ADMISSIBLE = 0, NOT_ADMISSIBLE = 1, NOT_REACHABLE = 2 }

enum	Satisfaction { INTOLERABLE = 0, DISSATISFIED = 1, DONT_CARE = 2, SATISFIED = 3 }

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
	Objective ()

virtual	~Objective ()

template<typename Reflector >
void	reflect (Reflector &r)

bool	hasWork () const

virtual Satisfaction	getSatisfaction ()
	Returns satisfaction for this Objective. More...

virtual void	resetDissatisfaction ()
	Reset any kind of dissatisfaction. More...

virtual DissatisfactionReason	getDissatisfactionReason ()
	Returns the reason for dissatisfaction. More...

virtual void	prepareVote (float lookAheadTime)
	Is called before the vote() calls and gives the objective a change to prepare itself, e.g. More...

virtual Vote	vote (const Velocity2 &v, float lookAheadTime)
	DEPRECATED - Please implement vote(const Trajectory& trajectory, float lookAheadTime) Is called multiple times after prepareVote() to compute a cost value for the given velocity. More...

virtual Vote	vote (const Velocity2 &v, const robot::PoseVelocityTrajectory &trajectory, float lookAheadTime)
	DEPRECATED - Please implement vote(const Trajectory& trajectory, float lookAheadTime) Is called multiple times after prepareVote() to compute a cost value for the given velocity. More...

virtual Vote	vote (const robot::PoseVelocityTrajectory &trajectory, float lookAheadTime)
	Is called multiple times after prepareVote() to compute a cost value for the given trajectory. More...

virtual void	informDecision (const Velocity2 &chosen, float dt)
	DEPRECATED - Please implement informDecision(const Trajectory& trajectory, float dt) Is called after the decision was made by the local motion planner to inform each objective about the decision that was made. More...

virtual void	informDecision (const robot::PoseVelocityTrajectory &trajectory, float dt)
	Is called after the decision was made by the local motion planner to inform each objective about the decision that was made. More...

virtual void	setTask (navigation::TaskPtr task)

virtual bool	reachedTask ()

virtual void	update ()

virtual void	plan (Duration plantime)

virtual void	updateRobotModel ()

void	pauseModule ()

void	resumeModule ()

void	initialize (Pilot *pilot)

virtual void	initialize ()

virtual void	pause ()

virtual void	resume ()

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	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::map< std::string, RWAccessFlags >	RWAccessMap

typedef std::list< AbstractChannelSubscriberPtr >	SubscribePtrList

Protected Member Functions
void	setHaveWork (bool haveWork)
	indicate whether this objective has work or not. If not, it will be skipped by the planner. More...

void	setSatisfaction (Satisfaction satisfaction, DissatisfactionReason reason=DissatisfactionReason::NO_REASON)
	indicate whether this objective is satisfied, dissatisfied or doesn't care. More...

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
AuthorityDescription	mDescription

boost::optional< Status >	mBootUpStatus

boost::optional< Status >	mRecoverStatus

Duration	mHeartbeatInterval

boost::optional< Time >	mLastHeartbeat

StatusMap	mStatusMap

std::string	mName

Member Enumeration Documentation

◆ Permit

enum Permit

Enumerator
ADMISSIBLE
NOT_ADMISSIBLE
NOT_REACHABLE

◆ Satisfaction

enum Satisfaction

Enumerator
INTOLERABLE
DISSATISFIED
DONT_CARE
SATISFIED

Constructor & Destructor Documentation

◆ Objective()

Objective ( )

inline

◆ ~Objective()

virtual ~Objective ( )

inlinevirtual

Member Function Documentation

◆ reflect()

void reflect ( Reflector & r )

inline

◆ hasWork()

bool hasWork ( ) const

inline

◆ getSatisfaction()

virtual Satisfaction getSatisfaction ( )

inlinevirtual

Returns satisfaction for this Objective.

Is used to check if a recovery strategy is needed. If all objectives that do not return DONT_CARE return DISSATISFIED, it can be assumed that we are stuck and need to recover.

◆ resetDissatisfaction()

virtual void resetDissatisfaction ( )

inlinevirtual

Reset any kind of dissatisfaction.

◆ getDissatisfactionReason()

virtual DissatisfactionReason getDissatisfactionReason ( )

inlinevirtual

Returns the reason for dissatisfaction.

◆ prepareVote()

virtual void prepareVote ( float lookAheadTime )

inlinevirtual

Is called before the vote() calls and gives the objective a change to prepare itself, e.g.

to perform computations. The given lookAheadTime in seconds specifies the time duration that should taken into account when computing the vote.

◆ vote() [1/3]

virtual Vote vote	(	const Velocity2 &	v,
		float	lookAheadTime
	)

inlinevirtual

DEPRECATED - Please implement vote(const Trajectory& trajectory, float lookAheadTime) Is called multiple times after prepareVote() to compute a cost value for the given velocity.

As second parameter the same look ahead time is specified that was previously passed to prepareVote. Use either overwrite this method or vote(const Velocity&, const Trajectory&, float) to compute a cost value for v.

◆ vote() [2/3]

virtual Vote vote	(	const Velocity2 &	v,
		const robot::PoseVelocityTrajectory &	trajectory,
		float	lookAheadTime
	)

inlinevirtual

DEPRECATED - Please implement vote(const Trajectory& trajectory, float lookAheadTime) Is called multiple times after prepareVote() to compute a cost value for the given velocity.

The passed trajectory contains a list of poses and velocities (relative to the robot position before the movement) that will be reached if we drive with the given velocity for lookAheadTime. The poses of the trajectory also take the acceleration and deceleration limits of the current model into account.

◆ vote() [3/3]

virtual Vote vote	(	const robot::PoseVelocityTrajectory &	trajectory,
		float	lookAheadTime
	)

inlinevirtual

Is called multiple times after prepareVote() to compute a cost value for the given trajectory.

The passed trajectory contains a list of poses and velocities that will be reached when driving for a time as long as lookAheadTime. The poses of the trajectory also take the acceleration and deceleration limits of the current model into account.

◆ informDecision() [1/2]

virtual void informDecision	(	const Velocity2 &	chosen,
		float	dt
	)

inlinevirtual

DEPRECATED - Please implement informDecision(const Trajectory& trajectory, float dt) Is called after the decision was made by the local motion planner to inform each objective about the decision that was made.

The objective can use that information to implement some feedback, e.g. for using previous decisions for the computation of future cost values.

◆ informDecision() [2/2]

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

inlinevirtual

Is called after the decision was made by the local motion planner to inform each objective about the decision that was made.

The objective can use that information to implement some feedback, e.g. for using previous decisions for the computation of future cost values.

◆ setTask()

virtual void setTask ( navigation::TaskPtr task )

inlinevirtual

◆ reachedTask()

virtual bool reachedTask ( )

inlinevirtual

◆ update()

virtual void update ( )

inlinevirtual

◆ plan()

virtual void plan ( Duration plantime )

inlinevirtual

◆ updateRobotModel()

virtual void updateRobotModel ( )

inlinevirtual

◆ setHaveWork()

void setHaveWork ( bool haveWork )

inlineprotected

indicate whether this objective has work or not. If not, it will be skipped by the planner.

◆ setSatisfaction()

void setSatisfaction	(	Satisfaction	satisfaction,
		DissatisfactionReason	reason = `DissatisfactionReason::NO_REASON`
	)

inlineprotected

indicate whether this objective is satisfied, dissatisfied or doesn't care.

◆ pauseModule()

void pauseModule ( )

inherited

◆ resumeModule()

void resumeModule ( )

inherited

◆ initialize() [1/2]

void initialize ( Pilot * pilot )

inherited

◆ initialize() [2/2]

virtual void initialize ( )

inlinevirtualinherited

Reimplemented in AbstractObjectiveBasedPlanner, and AbstractDynamicWindow.

◆ pause()

virtual void pause ( )

inlinevirtualinherited

Reimplemented in AbstractObjectiveBasedPlanner.

◆ resume()

virtual void resume ( )

inlinevirtualinherited

Reimplemented in AbstractObjectiveBasedPlanner.

◆ getPilot()

Pilot* getPilot ( )

inlineinherited

◆ getItemName()

const std::string& getItemName ( ) const

inlineinherited

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

core/include/pilot/Objective.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

◆ Permit

◆ Satisfaction

Constructor & Destructor Documentation

◆ Objective()

◆ ~Objective()

Member Function Documentation

◆ reflect()

◆ hasWork()

◆ getSatisfaction()

◆ resetDissatisfaction()

◆ getDissatisfactionReason()

◆ prepareVote()

◆ vote() [1/3]

◆ vote() [2/3]

◆ vote() [3/3]

◆ informDecision() [1/2]

◆ informDecision() [2/2]

◆ setTask()

◆ reachedTask()

◆ update()

◆ plan()

◆ updateRobotModel()

◆ setHaveWork()

◆ setSatisfaction()

◆ pauseModule()

◆ resumeModule()

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ pause()

◆ resume()

◆ getPilot()

◆ getItemName()