Public Member Functions
Construction
	Coordinator (Robot *const _r)

	Coordinator (Robot *const _r, XMLNode &_node)

virtual	~Coordinator ()

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

Agent Interface
virtual void	Initialize () override
	Call PMPL to create a path for the agent to follow. More...

void	InitializePlanningComponents ()

virtual void	Step (const double _dt) override
	Follow the roadmap. More...

virtual void	Uninitialize () override
	Clean up. More...

Coordinator Interface
void	ArbitrateCollision ()

void	CheckFinished ()

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
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.

Static Public Member Functions
Construction
static std::unique_ptr< Agent >	Factory (Robot *const _r, XMLNode &_node)

Public Types
Motion Planning Types
typedef RoadmapGraph< CfgType, WeightType >	RoadmapType

typedef RoadmapType::vertex_descriptor	VID

typedef std::vector< VID >::const_iterator	VIDIterator

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
MPLibrary *	m_library {nullptr}
	The shared-roadmap planning library.

TMPLibrary *	m_tmpLibrary {nullptr}
	The task and motion planning library.

MPSolution *	m_solution {nullptr}
	The shared-roadmap solution.

std::vector< std::string >	m_memberLabels
	Labels for the group members.

std::vector< ChildAgent * >	m_childAgents
	All robots in the group.

std::string	m_dmLabel
	The regular distance metric for finding nearest agents/chargers.

double	m_currentTime {0.0}
	Current time in the simulator.

std::vector< size_t >	m_simulatorGraphIDs
	List of simulator visualization graph ids.

std::shared_ptr< Plan >	m_plan {nullptr}

size_t	m_numRandTasks

bool	m_runSimulator {true}

bool	m_runDummies

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

Accessors
std::unordered_map< std::shared_ptr< MPTask >, std::vector< Cfg > >	m_interactionPathsDelivering

std::unordered_map< std::shared_ptr< MPTask >, std::vector< Cfg > >	m_interactionPathsReceiving

double	GetCurrentTime ()

TMPLibrary *	GetTMPLibrary ()

void	SetRoadmapGraph (RoadmapGraph< Cfg, DefaultWeight< Cfg > > *_graph)

std::vector< std::string >	GetMemberLabels ()

std::vector< ChildAgent * >	GetChildAgents ()

Detailed Description

This agent represents the task hand-off behavior presented in the thesis Titled:

A Task Hand-Off Framework for Multi-Robot Systems by Saurabh Mishra

A portion of this work was also presented in: Mishra, Saurabh, Samuel Rodriguez, Marco Morales, and Nancy M. Amato. "Battery-constrained coverage." In Automation Science and Engineering (CASE), 2016 IEEE International Conference on, pp. 695-700. IEEE, 2016.

This agent represents a coordinator and does not correspond to a physical robot. Its job is to coordinate the children and hold shared data structures for their use. It has a robot pointer purely for the purpose of building the shared roadmap.

@WARNING This object currently only supports homogeneous robot teams, and assumes a shared roadmap model.

None of the above information is accurate. Will and James wrote a bunch of new stuff that may or (more likely) may not work.

Constructor & Destructor Documentation

◆ Coordinator()

Coordinator::Coordinator ( Robot *const _r )

Create an agent group with some robot as the coordinator.

Parameters

_r	The coordinator robot.

Member Function Documentation

◆ Clone()

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

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.

Implements Agent.

◆ Initialize()

void Coordinator::Initialize ( )

overridevirtual

Call PMPL to create a path for the agent to follow.

Implements Agent.

◆ Step()

void Coordinator::Step ( const double _dt )

overridevirtual

Follow the roadmap.

Implements Agent.

◆ Uninitialize()

void Coordinator::Uninitialize ( )

overridevirtual

Clean up.

Implements Agent.

◆ ArbitrateCollision()

void Coordinator::ArbitrateCollision ( )

Decide what to do when some group of agents are facing a potential collision. Send a command to each agent in this group to resolve the potential collision.

◆ GetCurrentTime()

double Coordinator::GetCurrentTime ( )

Gets the current time of the simulation.

Returns: m_currentTime

◆ Factory()

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

staticinherited

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.

◆ SetTask()

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

virtualinherited

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 ( )

virtualinherited

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

◆ MinimumSteps()

size_t Agent::MinimumSteps ( ) const

inherited

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

inherited

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 ( )

inherited

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 )

inherited

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 ( )

protectedinherited

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
	)

protectedvirtualinherited

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
	)

protectedvirtualinherited

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
	)

protectedvirtualinherited

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

protectedinherited

Specifies the type of agent for heterogenous multiagent teams.

Step function to define agent behaviors.

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

Coordinator.h
Coordinator.cpp

Public Member Functions

Static Public Member Functions

Public Types

Protected Member Functions

Protected Attributes

Accessors

Detailed Description

Constructor & Destructor Documentation

◆ Coordinator()

Member Function Documentation

◆ Clone()

◆ Initialize()

◆ Step()

◆ Uninitialize()

◆ ArbitrateCollision()

◆ GetCurrentTime()

◆ Factory()

◆ SetTask()

◆ ResetStartConstraint()

◆ MinimumSteps()

◆ ProximityCheck()

◆ Halt()

◆ PauseAgent()

◆ ContinueLastControls()

◆ ExecuteControls()

◆ ExecuteControlsSimulation()

◆ ExecuteControlsHardware()

Member Data Documentation

◆ m_capability