#include <Robots/LoBot/control/LoTurnArbiter.H>
Classes | |
| class | iterator |
Public Member Functions | |
| Vote () | |
| std::vector< int > | get_directions () const |
| Retrieve the supported turn directions in a vector. | |
| VoteMap::mapped_type & | operator[] (int direction) |
| void | vote (int direction, float vote_value) |
| Vote & | operator+= (const Vote &v) |
| An operator to add one vote to another. | |
| void | normalize () |
| void | normalize (float min, float max) |
| ~Vote () | |
| Turn arbiter vote clean-up. | |
| void | dump (const std::string &caller="Vote::dump") const |
| Debug support. | |
| iterator | begin () |
| Obtaining iterators for the vote object. | |
| iterator | end () |
| const iterator | begin () const |
| const iterator | end () const |
| int | num_directions () const |
| Helpers to return the turn direction parameters. | |
Friends | |
| class | TurnArbiter |
| class | iterator |
To control the robot's steering, each turn related behaviour must vote for or against each possible turn direction. These votes are represented by this inner class. In order to vote, a behaviour must instantiate this class with the new operator, fill out the voting structure properly and then pass it to the arbiter's vote() method.
A vote is a number between -1 and +1. If a behaviour votes -1 for some direction, it means that the behaviour is dead-set against turning in that direction; a vote of +1 indicates a strong preference for going in that direction; and a vote of zero means the behaviour is neutral with regards to that direction. Fractional numbers indicate varying degrees between the three states described above. For example, an obstacle avoidance behaviour might scale vote values based on the distance to obstacles.
Definition at line 112 of file LoTurnArbiter.H.
| lobot::TurnArbiter::Vote::Vote | ( | ) |
When a new turn arbiter vote object is created, we initialize the internal turn-direction-to-vote-value map by using the appropriate config file parameters.
Definition at line 161 of file LoTurnArbiter.C.
References lobot::TurnArbiter::turn_max().
| lobot::TurnArbiter::Vote::~Vote | ( | ) |
Turn arbiter vote clean-up.
Definition at line 207 of file LoTurnArbiter.C.
| iterator lobot::TurnArbiter::Vote::begin | ( | ) | [inline] |
Obtaining iterators for the vote object.
Definition at line 258 of file LoTurnArbiter.H.
Referenced by normalize(), and operator+=().
| void lobot::TurnArbiter::Vote::dump | ( | const std::string & | caller = "Vote::dump" |
) | const |
Debug support.
Definition at line 296 of file LoTurnArbiter.C.
| std::vector< int > lobot::TurnArbiter::Vote::get_directions | ( | ) | const |
Retrieve the supported turn directions in a vector.
Definition at line 173 of file LoTurnArbiter.C.
References transform().
| void lobot::TurnArbiter::Vote::normalize | ( | float | min, | |
| float | max | |||
| ) |
Normalization requires finding the current min and max votes. However, sometimes, clients might obligingly have already done this. This method can be used when the current min and max vote values are known beforehand.
Definition at line 290 of file LoTurnArbiter.C.
References begin(), and transform().
| void lobot::TurnArbiter::Vote::normalize | ( | ) |
When many votes are added together, the result can go out of the [-1, +1] range. This method normalizes such votes so that all directions get a vote in the proper range.
Definition at line 281 of file LoTurnArbiter.C.
References begin().
| int lobot::TurnArbiter::Vote::num_directions | ( | ) | const [inline] |
Helpers to return the turn direction parameters.
Definition at line 280 of file LoTurnArbiter.H.
| TurnArbiter::Vote & lobot::TurnArbiter::Vote::operator+= | ( | const Vote & | v | ) |
An operator to add one vote to another.
Definition at line 242 of file LoTurnArbiter.C.
References begin(), and transform().
| TurnArbiter::Vote::VoteMap::mapped_type & lobot::TurnArbiter::Vote::operator[] | ( | int | direction | ) |
Operator to access the vote value corresponding to the supplied direction. If the turn direction is not supported by the arbiter, an exception will be thrown.
Definition at line 196 of file LoTurnArbiter.C.
Referenced by vote().
| void lobot::TurnArbiter::Vote::vote | ( | int | direction, | |
| float | vote_value | |||
| ) | [inline] |
After creating a new turn arbiter vote object, behaviours can use this method to specify their votes for a given direction.
Definition at line 140 of file LoTurnArbiter.H.
References operator[]().
1.6.3