Agent Class Reference

Public Member Functions
Agent Properties
Robot *	GetRobot () const noexcept
	Get the robot object to which this agent belongs.
virtual bool	IsChild () const noexcept
	Is this agent a child of some group/aggregate?
Task Management
virtual void	SetTask (const std::shared_ptr< MPTask > _task)
std::shared_ptr< MPTask >	GetTask () const noexcept
	Get the task that the agent is currently working on.
virtual void	ResetStartConstraint ()
Simulation Interface
virtual void	Initialize ()=0
virtual void	Step (const double _dt)=0
virtual void	Uninitialize ()=0
size_t	MinimumSteps () const
std::vector< Agent * >	ProximityCheck (const double _distance) const
Agent Control
void	Halt ()
void	PauseAgent (const size_t _steps)
Accessors
const std::string &	GetCapability () const noexcept
	Get the type of agent.

Protected Member Functions
void	Localize ()
	Instruct the agent to enqueue a command for gathering sensor readings.
bool	IsLocalizing () const noexcept
	Is the agent waiting on sensor data?
Cfg	EstimateState ()
	Estimate the state of the robot from the last localization data.
bool	ContinueLastControls ()
virtual void	ExecuteControls (const ControlSet &_c, const size_t _steps)
virtual void	ExecuteControlsSimulation (const ControlSet &_c, const size_t _steps)
virtual void	ExecuteControlsHardware (const ControlSet &_c, const size_t _steps)

Protected Attributes
Internal State
Robot *const	m_robot
	The robot that this agent controls.
bool	m_initialized {false}
	Is the agent initialized?
std::shared_ptr< MPTask >	m_task
	The task this agent is working on.
ControlSet	m_currentControls
	The current control set.
size_t	m_stepsRemaining {0}
	Steps remaining on current controls.
bool	m_debug {true}
	Toggle debug messages.
std::string	m_capability
	Specifies the type of agent for heterogenous multiagent teams. More...
std::unique_ptr< StepFunction >	m_stepFunction

Construction
	Agent (Robot *const _r)
	Agent (Robot *const _r, XMLNode &_node)
	Agent (Robot *const _r, const Agent &_a)
virtual std::unique_ptr< Agent >	Clone (Robot *const _r) const =0
virtual	~Agent ()
static std::unique_ptr< Agent >	Factory (Robot *const _r, XMLNode &_node)

Detailed Description

The decision-making faculties of a robot.

Agents are used with simulated robots. On each time step of the simulation, the agent decides what the robot will do and sends an appropriate command to the controller.

Constructor & Destructor Documentation

Agent() [1/3]

Agent::Agent

(

Robot *const

_r

)

Create an agent for a robot.

Parameters

_r	The robot which this agent will reason for.

Agent() [2/3]

Agent::Agent	(	Robot *const	_r,
		XMLNode &	_node
	)

Create an agent for a robot.

Parameters

_r	The robot which this agent will reason for.
_node	The XML node to parse.

Agent() [3/3]

Agent::Agent	(	Robot *const	_r,
		const Agent &	_a
	)

Copy an agent for another robot.

Parameters

_r	The destination robot.
_a	The agent to copy.

Member Function Documentation

Factory()

std::unique_ptr< Agent > Agent::Factory ( Robot *const  _r, XMLNode &  _node  )

static

Create a dynamically-allocated agent from an XML node.

Parameters

_r	The robot which this agent will reason for.
_node	The XML node to parse.

Returns

An agent of the type specified by _node.

Clone()

virtual std::unique_ptr< Agent > Agent::Clone ( Robot *const  _r ) const

pure virtual

Create a copy of this agent for another robot. This is provided so that we can copy an agent without knowing its type.

Parameters

_r	The robot which this cloned agent will reason for.

Returns

A copy of the agent.

Implemented in Coordinator, PathFollowingAgent, and PlanningAgent.

SetTask()

void Agent::SetTask ( const std::shared_ptr< MPTask >  _task )

virtual

Set the task for this agent.

Parameters

_task

The new task for this agent. Should be owned by the MPProblem.

Reimplemented in PlanningAgent.

ResetStartConstraint()

void Agent::ResetStartConstraint ( )

virtual

Resets the start constraint of the current task to the robot's current position.

Initialize()

virtual void Agent::Initialize ( )

pure virtual

Set up the agent before running. Anything that needs to be done only once on first starting should go here.

Implemented in Coordinator, and PlanningAgent.

Step()

virtual void Agent::Step ( const double  _dt )

pure virtual

Decide what to do on each time step in the simulation. The agent should implement its decision by sending commands to the robot's controller.

Parameters

_dt	The timestep length.

Implemented in Coordinator, and PlanningAgent.

Uninitialize()

virtual void Agent::Uninitialize ( )

pure virtual

Tear down the agent. Release any resources and reset the object to its pre-initialize state.

Implemented in Coordinator, PathFollowingAgent, and PlanningAgent.

MinimumSteps()

size_t Agent::MinimumSteps

(

)

const

Find the smallest time interval which is an integer multiple of the problem time resolution and larger than the hardware time (if any).

ProximityCheck()

std::vector< Agent * > Agent::ProximityCheck

(

const double

_distance

)

const

Check for proximity to other robots and return those that lie within some threshold. @WARNING This checks the distance between the robots' reference points; it does not indicate the minimum distance between their hulls.

Parameters

_distance

The distance threshold.

Returns

The vector of Robots within the threshold.

Halt()

void Agent::Halt

(

)

Stop the robot in simulation (places 0s in all 6 velocity dofs). @WARNING Arbitrarily setting the velocity does not respect the robot's dynamics. It is suitable for debugging and freezing a scenario upon completion, but it is not physically realistic.

PauseAgent()

void Agent::PauseAgent

(

const size_t

_steps

)

Orders the agent to stop itself at its current position. It will ask the controller to choose actions which stay as close as possible to the current position.

Parameters

_steps

The number of steps to stop for.

ContinueLastControls()

bool Agent::ContinueLastControls ( )

protected

Continue executing the last controls if time remains.

Returns

True if time is left on the last controls, false if the agent is finished and needs new controls.

ExecuteControls()

void Agent::ExecuteControls ( const ControlSet &  _c, const size_t  _steps  )

protectedvirtual

Execute a set of controls on the simulated robot, and additionally on the hardware if present.

Parameters

_c	The controls to execute.
_steps	The number of time steps to execute the control.

ExecuteControlsSimulation()

void Agent::ExecuteControlsSimulation ( const ControlSet &  _c, const size_t  _steps  )

protectedvirtual

Execute a set of controls on the simulated robot.

Parameters

_c	The controls to execute.

ExecuteControlsHardware()

void Agent::ExecuteControlsHardware ( const ControlSet &  _c, const size_t  _steps  )

protectedvirtual

Execute a set of controls on the hardware if present.

Parameters

_c	The controls to execute.
_steps	The number of time steps to execute the control.

Member Data Documentation

m_capability

std::string Agent::m_capability

protected

Specifies the type of agent for heterogenous multiagent teams.

Step function to define agent behaviors.

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

• Agent.h
• Agent.cpp
• AgentFactory_pmpl.cpp
• AgentFactory_sim.cpp