MipTasks::PursuingComm Class Reference
[Pursuing]

Task for pursuing. More...

#include <PursuingComm.h>

Inheritance diagram for MipTasks::PursuingComm:

List of all members.

Public Member Functions

PursuingComm (CommModule *commModule, TaskPlate plate, PursuingStates *currentStatePtr)

Constructor.

~PursuingComm ()

Destructor.

void setAutomaticReplies (bool automaticRepliesActivated)

set of the property _automaticRepliesActivated

bool getAutomaticReplies ()

get of the property _automaticRepliesActivated

string getObjectName () const

Gives the Name of the object.

void sendCurrentPose (vector< uint > recipientIds, Pose currentPose)

Sends the current pose of the robot to a list of recipients.

bool sendCurrentState (vector< uint > recipientIds, PursuingStates currentState)

Sends the current state of the robot to a list of recipients.

bool sendGiveMeYourFrontier (uint recipientId)

Sends a Frontier request to a robot.

bool sendImNotAGuardAnymoreFrontier (uint recipientId)

Tells a robot requesting my frontier that my state is no more guard.

bool sendMyCurrentFrontier (uint recipientId, const vector< vector< Position > > &frontier)

Sends a Frontier to a robot.

bool sendYourUpdatedFrontier (uint recipientId, const vector< vector< Position > > &frontier)

Sends an updated Frontier to a robot.

bool sendCommandFollow (uint recipientId, Pose goal)

Sends the command Follow to a robot, which should be a Follower.

bool sendCommandExpand (uint recipientId, Pose goal)

Sends the command Expand to a robot, which should be a Follower.

bool sendCommandWander (uint recipientId)

Sends the command Wander to a robot, which should be a Follower.

bool sendIWannaBeYourFollower (uint recipientId)

Asks a guard the permission to become its Follower.

bool sendFollowMe (uint recipientId)

Tells a robot to become my Follower.

bool sendImNotAGuardAnymoreAffiliation (uint recipientId)

Tells a would-be-follower that my state is no more guard.

void receiveCurrentPoses (map< uint, TimeStampedPose > &poses)

Gets incoming position messages.

void receiveCurrentStates (map< uint, PursuingStates > &states)

Gets incoming states messages.

bool receiveCurrentFrontier (uint senderId, bool &positiveResponse, vector< vector< Position > > &frontier)

Gets current frontier from a neighboring guard, i.e., the answer to sendGiveMeYourFrontier().

bool receiveUpdatedFrontier (uint senderId, vector< vector< Position > > &frontier)

Gets the updated frontier from the neighboring robot to which the robot has just sent its current frontier.

bool receiveGuardAcknowledgmentAffiliation (uint supposedGuardId, bool &accepted)

Gets the answer of the "supposed to be" a guard, i.e., the answer to sendIWannaBeYourFollower().

bool receiveFollowerCommands (uint guardId, bool &follow, bool &expand, bool &wander, Pose &goal)

Gets the answer of the "supposed to be" a guard, i.e., the answer to sendIWannaBeYourFollower().

void receiveUniversAsyncRequests (map< uint, PursuingMessageTypes > &asyncReq)

Collects the universal asynchronous requests, i.e., asynchronous requests which can be received in all the states.

Detailed Description

Task for pursuing.

Author:: Antonio Franchi and Arnaud Dufranne

Constructor & Destructor Documentation

MipTasks::PursuingComm::PursuingComm	(	CommModule *	commModule,
		TaskPlate	plate,
		PursuingStates *	currentStatePtr
	)

Constructor.

Parameters:

`[out]`	commModule	Pointer to the communication module.
`[in]`	plate	The id of the task which instanciates the PursuingComm
`[in]`	currentStatePtr	a pointer to the current status of the task which instanciates the PursuingComm, readonly.

MipTasks::PursuingComm::~PursuingComm ( )

Destructor.

Member Function Documentation

void MipTasks::PursuingComm::setAutomaticReplies ( bool automaticRepliesActivated )

set of the property _automaticRepliesActivated

Parameters:

[in] automaticRepliesActivated the value to assign

bool MipTasks::PursuingComm::getAutomaticReplies ( )

get of the property _automaticRepliesActivated

Returns:: the value of the parameter

string MipTasks::PursuingComm::getObjectName ( ) const [inline, virtual]

Gives the Name of the object.

Returns:: string the name of the object as a string

Implements MIPObject.

void MipTasks::PursuingComm::sendCurrentPose	(	vector< uint >	recipientIds,
		Pose	currentPose
	)

Sends the current pose of the robot to a list of recipients.

Parameters:

`[in]`	recipientsIds	The vector containing the Ids of recipients.
`[in]`	The	Pose of the robot.

bool MipTasks::PursuingComm::sendCurrentState	(	vector< uint >	recipientIds,
		PursuingStates	currentState
	)

Sends the current state of the robot to a list of recipients.

Parameters:

`[in]`	recipientsIds	The vector containing the Ids of recipients.
`[in]`	The	current state of the robot.

bool MipTasks::PursuingComm::sendGiveMeYourFrontier ( uint recipientId )

Sends a Frontier request to a robot.

Parameters:

[in] recipientId The Id of the robot asked for its frontier.

bool MipTasks::PursuingComm::sendImNotAGuardAnymoreFrontier ( uint recipientId )

Tells a robot requesting my frontier that my state is no more guard.

Parameters:

ssin]&recipientId

The Id of the guard robot to whom is sent the packet.

bool MipTasks::PursuingComm::sendMyCurrentFrontier	(	uint	recipientId,
		const vector< vector< Position > > &	frontier
	)

Sends a Frontier to a robot.

Parameters:

[in] recipientId The Id of the robot to whom ist sent the frontier.

bool MipTasks::PursuingComm::sendYourUpdatedFrontier	(	uint	recipientId,
		const vector< vector< Position > > &	frontier
	)

Sends an updated Frontier to a robot.

Parameters:

[in] recipientId The Id of the robot asked for its frontier.

bool MipTasks::PursuingComm::sendCommandFollow	(	uint	recipientId,
		Pose	goal
	)

Sends the command Follow to a robot, which should be a Follower.

Parameters:

`[in]`	recipientId	The Id of the robot to whom is sent the command.
`[in]`	goal	The aim position of the follower.

Note:: the goal could become a path in further developments.

bool MipTasks::PursuingComm::sendCommandExpand	(	uint	recipientId,
		Pose	goal
	)

Sends the command Expand to a robot, which should be a Follower.

Parameters:

`[in]`	recipientId	The Id of the robot to whom is sent the command.
`[in]`	goal	The aim position of the follower.

Note:: the goal could become a path in further developments.

bool MipTasks::PursuingComm::sendCommandWander ( uint recipientId )

Sends the command Wander to a robot, which should be a Follower.

Parameters:

[in] recipientId The Id of the robot to whom is sent the command.

bool MipTasks::PursuingComm::sendIWannaBeYourFollower ( uint recipientId )

Asks a guard the permission to become its Follower.

Parameters:

[in] recipientId The Id of the guard robot to whom is sent the request.

bool MipTasks::PursuingComm::sendFollowMe ( uint recipientId )

Tells a robot to become my Follower.

Parameters:

[in] recipientId The Id of the guard robot to whom is sent the order

bool MipTasks::PursuingComm::sendImNotAGuardAnymoreAffiliation ( uint recipientId )

Tells a would-be-follower that my state is no more guard.

Parameters:

[in] recipientId The Id of the wander robot to whom is sent the packet.

void MipTasks::PursuingComm::receiveCurrentPoses ( map< uint, TimeStampedPose > & poses )

Gets incoming position messages.

Parameters:

[out] &poses uint x TimeStampedPose map reference, that will contain the positions received.

void MipTasks::PursuingComm::receiveCurrentStates ( map< uint, PursuingStates > & states )

Gets incoming states messages.

Parameters:

[out] &states uint x PursuingStates map reference, that will contain the states received.

bool MipTasks::PursuingComm::receiveCurrentFrontier	(	uint	senderId,
		bool &	positiveResponse,
		vector< vector< Position > > &	frontier
	)

Gets current frontier from a neighboring guard, i.e., the answer to sendGiveMeYourFrontier().

Parameters:

`[in]`	senderId	Neighboring robot id.
`[out]`	positiveResponse	bool reference indicating wether the frontier has been received or not: Is false when the robot which sends the message is no more a guard.
`[out]`	frontier	reference which contains the frontier in the case it has been sent.

Returns:: false if no such a packet was received yet. true otherwise.

bool MipTasks::PursuingComm::receiveUpdatedFrontier	(	uint	senderId,
		vector< vector< Position > > &	frontier
	)

Gets the updated frontier from the neighboring robot to which the robot has just sent its current frontier.

Parameters:

[in] senderId Neighboring robot id.

Returns:: False if no such a packet was received yet. True otherwise.

bool MipTasks::PursuingComm::receiveGuardAcknowledgmentAffiliation	(	uint	supposedGuardId,
		bool &	accepted
	)

Gets the answer of the "supposed to be" a guard, i.e., the answer to sendIWannaBeYourFollower().

Parameters:

`[in]`	supposedGuardId	Neighboring robot id.
`[out]`	accepted	Reference to a boolean, which will be set to True if the Follower has been accepted, to False otherwise.

Returns:: False if no such a packet was received yet. True otherwise.

bool MipTasks::PursuingComm::receiveFollowerCommands	(	uint	guardId,
		bool &	follow,
		bool &	expand,
		bool &	wander,
		Pose &	goal
	)

Gets the answer of the "supposed to be" a guard, i.e., the answer to sendIWannaBeYourFollower().

Parameters:

`[in]`	guardrId	Guard id.
`[out]`	follow	Reference to a boolean, set to True if an order Follow has been received.
`[out]`	expand	Reference to a boolean, set to True if an order Expand has been received.
`[out]`	wander	Reference to a boolean, set to True if an order Wander has been received.
`[out]`	Position	reference, which stores the position to reach in the case of a received Expand or Follow order.

Returns:: False if no such a packet was received yet. True otherwise.

void MipTasks::PursuingComm::receiveUniversAsyncRequests ( map< uint, PursuingMessageTypes > & asyncReq )

Collects the universal asynchronous requests, i.e., asynchronous requests which can be received in all the states.

Parameters:

[out] AsyncReq A collection of universal asynchronous requests.

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

tasks/Pursuing/old_files_2009/PursuingComm.h
tasks/Pursuing/old_files_2009/PursuingComm.cpp


Public Member Functions
	PursuingComm (CommModule commModule, TaskPlate plate, PursuingStates currentStatePtr)
	Constructor.
	~PursuingComm ()
	Destructor.
void	setAutomaticReplies (bool automaticRepliesActivated)
	set of the property _automaticRepliesActivated
bool	getAutomaticReplies ()
	get of the property _automaticRepliesActivated
string	getObjectName () const
	Gives the Name of the object.
void	sendCurrentPose (vector< uint > recipientIds, Pose currentPose)
	Sends the current pose of the robot to a list of recipients.
bool	sendCurrentState (vector< uint > recipientIds, PursuingStates currentState)
	Sends the current state of the robot to a list of recipients.
bool	sendGiveMeYourFrontier (uint recipientId)
	Sends a Frontier request to a robot.
bool	sendImNotAGuardAnymoreFrontier (uint recipientId)
	Tells a robot requesting my frontier that my state is no more guard.
bool	sendMyCurrentFrontier (uint recipientId, const vector< vector< Position > > &frontier)
	Sends a Frontier to a robot.
bool	sendYourUpdatedFrontier (uint recipientId, const vector< vector< Position > > &frontier)
	Sends an updated Frontier to a robot.
bool	sendCommandFollow (uint recipientId, Pose goal)
	Sends the command Follow to a robot, which should be a Follower.
bool	sendCommandExpand (uint recipientId, Pose goal)
	Sends the command Expand to a robot, which should be a Follower.
bool	sendCommandWander (uint recipientId)
	Sends the command Wander to a robot, which should be a Follower.
bool	sendIWannaBeYourFollower (uint recipientId)
	Asks a guard the permission to become its Follower.
bool	sendFollowMe (uint recipientId)
	Tells a robot to become my Follower.
bool	sendImNotAGuardAnymoreAffiliation (uint recipientId)
	Tells a would-be-follower that my state is no more guard.
void	receiveCurrentPoses (map< uint, TimeStampedPose > &poses)
	Gets incoming position messages.
void	receiveCurrentStates (map< uint, PursuingStates > &states)
	Gets incoming states messages.
bool	receiveCurrentFrontier (uint senderId, bool &positiveResponse, vector< vector< Position > > &frontier)
	Gets current frontier from a neighboring guard, i.e., the answer to sendGiveMeYourFrontier().
bool	receiveUpdatedFrontier (uint senderId, vector< vector< Position > > &frontier)
	Gets the updated frontier from the neighboring robot to which the robot has just sent its current frontier.
bool	receiveGuardAcknowledgmentAffiliation (uint supposedGuardId, bool &accepted)
	Gets the answer of the "supposed to be" a guard, i.e., the answer to sendIWannaBeYourFollower().
bool	receiveFollowerCommands (uint guardId, bool &follow, bool &expand, bool &wander, Pose &goal)
	Gets the answer of the "supposed to be" a guard, i.e., the answer to sendIWannaBeYourFollower().
void	receiveUniversAsyncRequests (map< uint, PursuingMessageTypes > &asyncReq)
	Collects the universal asynchronous requests, i.e., asynchronous requests which can be received in all the states.

MipTasks::PursuingComm Class Reference [Pursuing]

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

MipTasks::PursuingComm Class Reference
[Pursuing]