Public Member Functions
Construction
	PathFollowingAgent (Robot *const _r)

	PathFollowingAgent (Robot *const _r, const PathFollowingAgent &_a)

	PathFollowingAgent (Robot *const _r, XMLNode &_node)

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

virtual	~PathFollowingAgent ()

Agent Interface
virtual void	Uninitialize () override

void	ClearVisualGraph ()
	Visually remove the agent's roadmap representation.

Planning
virtual bool	HasPlan () const override

virtual void	ClearPlan () override

void	SetPlan (std::vector< Cfg > _path)

Agent Overrides
virtual void	Initialize () override

virtual void	Step (const double _dt) override

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

Planning
bool	IsPlanning () const

size_t	GetPlanVersion () const

MPSolution *	GetMPSolution ()

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
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)

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)

Planning Helpers
virtual void	WorkFunction (std::shared_ptr< MPProblem > _problem) override
	Function call for PPL. More...

Task Helpers
virtual bool	EvaluateTask () override

virtual void	ExecuteTask (const double _dt) override

Planning Helpers
virtual void	GeneratePlan ()

void	StopPlanning ()

Task Helpers
virtual bool	SelectTask ()

Localization Helpers
void	UpdateSimulatedState ()

Protected Attributes
Internal State
std::vector< Cfg >	m_path
	The path to follow.

size_t	m_pathIndex {0}
	The path node that is the current subgoal.

std::string	m_waypointDm

double	m_waypointThreshold {.05}
	The distance threshold for waypoint proximity.

size_t	m_pathVisualID {size_t(-1)}
	The ID of the path drawing.

size_t	m_graphVisualID {size_t(-1)}
	The ID of the graph drawing.

Internal State
std::unique_ptr< MPLibrary >	m_library
	This agent's planning library.

std::unique_ptr< MPSolution >	m_solution
	The current solution.

std::thread	m_thread
	Thread for agent to run PPL.

std::atomic< bool >	m_planning {false}
	Is the agent currently planning.

std::atomic< size_t >	m_planVersion {1}
	The current plan version.

size_t	m_roadmapVisualID {size_t(-1)}
	The ID of the roadmap drawing.

size_t	m_localizePeriod {200}
	The number of timesteps between localize calls.

size_t	m_localizeCount {1}
	The number of timesteps since the last localize call.

double	m_localizeErrorThreshold {0.4}
	The largest allowed error before requiring a replan.

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

Detailed Description

This agent calls PPL to generate a path. It then attempts to follow the path waypoints as closely as possible by relying on the robot's controller.

Constructor & Destructor Documentation

◆ PathFollowingAgent() [1/3]

PathFollowingAgent::PathFollowingAgent ( Robot *const _r )

Create an agent for a robot.

Parameters

_r	The robot which this agent will reason for.

◆ PathFollowingAgent() [2/3]

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

Copy an agent for another robot.

Parameters

_r	The destination robot.
_a	The agent to copy.

◆ PathFollowingAgent() [3/3]

PathFollowingAgent::PathFollowingAgent	(	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.

Member Function Documentation

◆ Clone()

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

overridevirtual

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.

Reimplemented from PlanningAgent.

◆ Uninitialize()

void PathFollowingAgent::Uninitialize ( )

overridevirtual

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

Reimplemented from PlanningAgent.

◆ HasPlan()

bool PathFollowingAgent::HasPlan ( ) const

overridevirtual

Does the agent have a plan for its current task?

Returns: True if the agent has a plan.

Reimplemented from PlanningAgent.

◆ ClearPlan()

void PathFollowingAgent::ClearPlan ( )

overridevirtual

Clear the agent's current plan. If a plan was cleared, the plan version will be updated. Overrides should always call this base method to update the plan version.

Reimplemented from PlanningAgent.

◆ SetPlan()

void PathFollowingAgent::SetPlan ( std::vector< Cfg > _path )

Sets the agent's plan.

Parameters

_path The set of configurations to follow.

◆ WorkFunction()

void PathFollowingAgent::WorkFunction ( std::shared_ptr< MPProblem > _problem )

overrideprotectedvirtual

Function call for PPL.

Reimplemented from PlanningAgent.

◆ EvaluateTask()

bool PathFollowingAgent::EvaluateTask ( )

overrideprotectedvirtual

Evaluate the agent's progress on its current task.

Returns: True if we should continue the current task, false otherwise.

Reimplemented from PlanningAgent.

◆ ExecuteTask()

void PathFollowingAgent::ExecuteTask ( const double _dt )

overrideprotectedvirtual

Continue executing the agent's current task.

Parameters

_dt	The step length.

Reimplemented from PlanningAgent.

◆ Initialize()

void PlanningAgent::Initialize ( )

overridevirtualinherited

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

Implements Agent.

◆ Step()

void PlanningAgent::Step ( const double _dt )

overridevirtualinherited

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.

Implements Agent.

◆ SetTask()

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

overridevirtualinherited

Set the task for this agent.

Parameters

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

Reimplemented from Agent.

◆ IsPlanning()

bool PlanningAgent::IsPlanning ( ) const

inherited

Is the agent currently generating a plan?

Returns: True if the agent is generating a plan.

◆ GetPlanVersion()

size_t PlanningAgent::GetPlanVersion ( ) const

inherited

Get the current version number for the agent's plan.

Returns: The plan version number.

◆ GetMPSolution()

MPSolution * PlanningAgent::GetMPSolution ( )

inherited

Get the pointer to this agents solution object.

Returns: The MPSolution pointer.

◆ GeneratePlan()

void PlanningAgent::GeneratePlan ( )

protectedvirtualinherited

Generate a plan for the agent's current task. Calls the WorkFunction in a separate thread.

◆ StopPlanning()

void PlanningAgent::StopPlanning ( )

protectedinherited

Stop the current plan (only works for MPStrategies which are implemented using the base Run() method).

◆ SelectTask()

bool PlanningAgent::SelectTask ( )

protectedvirtualinherited

Select the next task for this agent. The base implementation selects the first available task.

Returns: True if a new task was selected, or false if none remain.

◆ UpdateSimulatedState()

void PlanningAgent::UpdateSimulatedState ( )

protectedinherited

Evaluates whether the robot's simulated state is incorrect (beyond some error threshold) and sets the simulated state as necessary.

◆ 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.

◆ 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_waypointDm

std::string PathFollowingAgent::m_waypointDm

protected

The distance metric for checking whether the agent has reached a path waypoint.

◆ 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:

PathFollowingAgent.h
PathFollowingAgent.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PathFollowingAgent() [1/3]

◆ PathFollowingAgent() [2/3]

◆ PathFollowingAgent() [3/3]

Member Function Documentation

◆ Clone()

◆ Uninitialize()

◆ HasPlan()

◆ ClearPlan()

◆ SetPlan()

◆ WorkFunction()

◆ EvaluateTask()

◆ ExecuteTask()

◆ Initialize()

◆ Step()

◆ SetTask()

◆ IsPlanning()

◆ GetPlanVersion()

◆ GetMPSolution()

◆ GeneratePlan()

◆ StopPlanning()

◆ SelectTask()

◆ UpdateSimulatedState()

◆ Factory()

◆ ResetStartConstraint()

◆ MinimumSteps()

◆ ProximityCheck()

◆ Halt()

◆ PauseAgent()

◆ ContinueLastControls()

◆ ExecuteControls()

◆ ExecuteControlsSimulation()

◆ ExecuteControlsHardware()

Member Data Documentation

◆ m_waypointDm

◆ m_capability