Public Member Functions
Construction
	Robot (MPProblem *const _p, XMLNode &_node)

	Robot (MPProblem *const _p, std::unique_ptr< MultiBody > &&_mb, const std::string &_label)

	Robot (MPProblem *const _p, const Robot &_r)

	~Robot () noexcept

Disabled Functions
Regular copy/move is not allowed because we require a permanent MPProblem for the robot to belong to. Assignment is disabled because we should never need to re-assign entire robots. Destruct the old one and create a new one instead.
	Robot (const Robot &)=delete

	Robot (Robot &&)=delete

Robot &	operator= (const Robot &)=delete

Robot &	operator= (Robot &&)=delete

Planning Interface
void	InitializePlanningSpaces ()
	Compute the configuration and velocity spaces for this robot.

const CSpaceBoundingBox *	GetCSpace () const noexcept
	Get the configuration space boundary for this robot.

const CSpaceBoundingBox *	GetVSpace () const noexcept
	Get the velocity space boundary for this robot.

MPProblem *	GetMPProblem () const noexcept
	Get the owning MPProblem.

Simulation Interface
void	Step (const double _dt)

void	SynchronizeModels () noexcept
	Align the multibody model to the robot's current simulated state.

BulletModel *	GetSimulationModel () noexcept

void	SetSimulationModel (BulletModel *const _m)

Geometry Accessors
Access the robot's geometric representation. The robot will take ownership of its MultiBody and delete it when necessary.
MultiBody *	GetMultiBody () noexcept

const MultiBody *	GetMultiBody () const noexcept

const EndEffector &	GetEndEffector () const noexcept
	Access the robot manipulator's end effector, if it exists.

Agent Accessors
Access the robot's agent. The robot will take ownership of its agent and delete it when necessary.
Agent *	GetAgent () noexcept

void	SetAgent (std::unique_ptr< Agent > &&_a) noexcept

Control Accessors
Access the robot's control structures. The robot will take ownership of these and delete them when necessary.
ControllerMethod *	GetController () noexcept

void	SetController (std::unique_ptr< ControllerMethod > &&_c) noexcept

Actuator Accessors
Access the robot's actuators. These are set during input file parsing and cannot be changed otherwise.
Actuator *	GetActuator (const std::string &_label) noexcept

const std::unordered_map< std::string, std::unique_ptr< Actuator > > &	GetActuators () const noexcept
	Get set of all actuators mapped by label.

Dynamics Accessors
MicroSimulator *	GetMicroSimulator () noexcept
	Get the robot's micro-simulator to test out controls.

Hardware Interface
Access the interface to the hardware robot (if any).
RobotCommandQueue *	GetHardwareQueue () const noexcept
	Get hardware command queue.

Battery *	GetBattery () const noexcept
	Get the emualted battery.

StateEstimator *	GetStateEstimator () const noexcept
	Get the state estimator.

void	SetStateEstimator (std::unique_ptr< StateEstimator > &&_stateEstimator) noexcept
	Set the state estimator.

Other Properties
bool	IsVirtual () const noexcept

void	SetVirtual (const bool _v) noexcept

bool	IsNonholonomic () const noexcept
	Check if the robot is nonholonomic.

bool	IsCarlike () const noexcept
	Check if the robot is car-like.

double	GetMaxLinearVelocity () const noexcept
	Get the maximum translational velocity for this robot.

double	GetMaxAngularVelocity () const noexcept
	Get the maximum angular velocity for this robot.

const std::string &	GetLabel () const noexcept
	Get the unique label for this robot.

const std::string &	GetDefaultStrategyLabel () const noexcept
	Get the default strategy label for this robot.

const std::string &	GetCapability () const noexcept
	Get the capability for this robot.

void	SetCapability (const std::string &_capability)
	Set the capability for this robot.

bool	IsManipulator () const noexcept
	Check if the robot is a manipulator.

bool	IsFixed () const noexcept
	Check if the robot has a fixed base.

Cfg	GetInitialCfg ()
	Get initial configuration for the robot (not implemented)

void	SetInitialCfg (Cfg _cfg)
	Set initial configuration for the robot (not implemented)

Protected Member Functions
I/O
void	ReadXMLFile (const std::string &_filename)

void	ReadXMLNode (XMLNode &_node)

void	ReadMultiBodyXML (XMLNode &_node)

void	ReadMultibodyFile (const std::string &_filename)

Detailed Description

Complete representation of a robot.

A robot has many components, including:

MultiBody: The robot's physical geometry.
Agent: The robot's high-level decision-making algorithm. Determines what actions the robot should take to complete its task. Used only in simulations.
Actuators: The robot's motors/effectors. Translates control commands into generalized forces.
Controller: The robot's low-level controller, which determines what control should be applied to move from point to point.
BulletModel: Simulation model of the robot. Represents the robot in the bullet world.
MicroSimulator: Isolated simulation of this robot for testing control applications.
CommandQueue: Controls a set of hardware for this robot.
StateEstimator: Object for integrating sensor data with commands to localize a hardware robot.

Todo:: Come up with a nice way to support both real and emulated hardware.

Constructor & Destructor Documentation

◆ Robot() [1/3]

Robot::Robot	(	MPProblem *const	_p,
		XMLNode &	_node
	)

Construct a robot from an XML node.

Parameters

_p	The owning MPProblem.
_node	The XML node to parse.

◆ Robot() [2/3]

Robot::Robot	(	MPProblem *const	_p,
		std::unique_ptr< MultiBody > &&	_mb,
		const std::string &	_label
	)

Construct a robot from a multibody.

Parameters

_p	The owning MPProblem.
_label	The unique label for this robot.

◆ Robot() [3/3]

Robot::Robot	(	MPProblem *const	_p,
		const Robot &	_r
	)

Copy a robot to another MPProblem.

Parameters

_p	The destination MPProblem.
_r	The source robot to copy.

Member Function Documentation

◆ ReadXMLFile()

void Robot::ReadXMLFile ( const std::string & _filename )

protected

Parse an XML robot file.

Parameters

_filename The file name.

◆ ReadXMLNode()

void Robot::ReadXMLNode ( XMLNode & _node )

protected

Parse an XML robot node.

Parameters

_node The SML node.

◆ ReadMultiBodyXML()

void Robot::ReadMultiBodyXML ( XMLNode & _node )

protected

Parse multibody information from robot's XML file.

Parameters

_node The XML node to parse

◆ ReadMultibodyFile()

void Robot::ReadMultibodyFile ( const std::string & _filename )

protected

Parse a multibody file describing this robot.

Parameters

_filename The file name.

◆ Step()

void Robot::Step ( const double _dt )

Execute a simulation step: update the percept model, have the agent make a decision, and send the resulting controls to the actuators.

Parameters

_dt	The timestep length.

◆ GetSimulationModel()

BulletModel * Robot::GetSimulationModel ( )

noexcept

Access the robot's simulation model. This is owned by the simulation engine.

◆ SetSimulationModel()

void Robot::SetSimulationModel ( BulletModel *const _m )

Set the robot's simulation model (should only happen in the main bullet engine).

◆ GetActuator()

Actuator * Robot::GetActuator ( const std::string & _label )

noexcept

Get actuator using label

Parameters

_label Label of actuator to retrieve

◆ IsVirtual()

bool Robot::IsVirtual ( ) const

noexcept

Check if this is a 'virtual' robot. These do not represent physical robots, and will be ignored by other robots in collision detection. Virtual robots will not appear in simulations.

◆ SetVirtual()

void Robot::SetVirtual ( const bool _v )

noexcept

Set the robot's virtual flag.

Parameters

_v	The new value for the virtual flag.

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

Robot.h
Robot.cpp

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Robot() [1/3]

◆ Robot() [2/3]

◆ Robot() [3/3]

Member Function Documentation

◆ ReadXMLFile()

◆ ReadXMLNode()

◆ ReadMultiBodyXML()

◆ ReadMultibodyFile()

◆ Step()

◆ GetSimulationModel()

◆ SetSimulationModel()

◆ GetActuator()

◆ IsVirtual()

◆ SetVirtual()