Pursuing
[Tasks]

Pursuing Task. More...

Classes
class	MipTasks::PursuingOptions
	Options for for the scan matching task. More...
class	MipTasks::Pursuing
	Task for pursuing. More...
class	MipTasks::PursuingComm
	Task for pursuing. More...
class	MipTasks::PursuingSharedMem
	Shared memory for the Pursuing task. More...
Typedefs
typedef std::vector< Position >	MipTasks::PositionPath
typedef std::vector< Position >	MipTasks::ViewPoints
Enumerations
enum	MipTasks::PursuingMessageTypes {   MipTasks::PUR_MES_MY_POSE, MipTasks::PUR_MES_MY_STATE, MipTasks::PUR_MES_GIMME_FRONTIER, MipTasks::PUR_MES_MY_FRONTIER,   MipTasks::PUR_MES_NO_GUARD_FRONTIER, MipTasks::PUR_MES_YOUR_NEW_FRONTIER, MipTasks::PUR_MES_FOLLOW, MipTasks::PUR_MES_EXPAND,   MipTasks::PUR_MES_WANDER, MipTasks::PUR_MES_WANNA_BE_FOLLOWER, MipTasks::PUR_MES_NO_GUARD_AFFILIATION, MipTasks::PUR_MES_FOLLOW_ME,   MipTasks::PUR_MES_NUM }
	The messages used by the Pursuing task. A posteriori, we have four categories of messages: AsyncInfo (MY_POSE) AsyncRequest which can be received in every state aka UniversalAsyncRequest (GIMME_FRONTIER,GIMME_STATE,WANNA_BE_FOLLOWER) AsyncRequest which can be received only in the follow state (FOLLOW,EXPAND,WANDER) SyncAnswer (MY_FRONTIER,YOUR_NEW_FRONTIER,FOLLOW_ME,I_AM_NOT_A_GUARD_FRONTIER,I_AM_NOT_A_GUARD_AFFILIATION,MY_STATE). AsyncRequests and SyncAnswers are referred to as Dialog messages. More...
enum	MipTasks::PursuingStates {   MipTasks::PUR_STA_EXPAND, MipTasks::PUR_STA_FRONT_GUARD, MipTasks::PUR_STA_FOLLOW, MipTasks::PUR_STA_WANDER,   MipTasks::PUR_STA_NUM }
	The possible states of the Pursuing task. More...
enum	MipTasks::PursuingGuardUpdatingStates { MipTasks::PUR_STA_FRONT_GUARD_UPDATING_FREE, MipTasks::PUR_STA_FRONT_GUARD_UPDATING_WAITING, MipTasks::PURSUING_GUARD_UPDATING_NUM }
	The possible states of updating guards in the Pursuing task. More...
enum	MipTasks::PursuingGuardStates { MipTasks::PUR_STA_FRONT_GUARD_UPDATING, MipTasks::PUR_STA_FRONT_GUARD_SEND_FOLLOWER, MipTasks::PUR_STA_FRONT_GUARD_PLANNING, MipTasks::PUR_STA_FRONT_GUARD_NUM }
	The possible states of established guards in the Pursuing task. More...
enum	MipTasks::PursuingWandererStates { MipTasks::PUR_STA_WANDER_FREE, MipTasks::PUR_STA_WANDER_WAITING, MipTasks::PUR_STA_WANDER_NUM }
	The possible states of wanderers in the Pursuing task. More...
enum	MipTasks::GuardUpdatingState {   MipTasks::PUR_GUARD_UPDATING_STA_TODO, MipTasks::PUR_GUARD_UPDATING_STA_SENT_REQUEST, MipTasks::PUR_GUARD_UPDATING_STA_RECEIVED_VALID_REQUEST, MipTasks::PUR_GUARD_UPDATING_STA_DONE_UPDATING,   MipTasks::PUR_GUARD_UPDATING_STA_NUM }
	The possible states of the Pursuing task. More...
enum	MipTasks::PursuingState {   MipTasks::WAITING, MipTasks::INITIALIZE, MipTasks::RUN, MipTasks::WAITING,   MipTasks::INITIALIZE, MipTasks::RUN }
enum	MipTasks::PursuingState {   MipTasks::WAITING, MipTasks::INITIALIZE, MipTasks::RUN, MipTasks::WAITING,   MipTasks::INITIALIZE, MipTasks::RUN }
Variables
int	MipTasks::gMinArcSize = 2
int	MipTasks::gMinMergeArcSize = 1
int	MipTasks::gMinRadialArcSize = 3
static const char *	MipTasks::pursuingMessageStrings [PUR_MES_NUM]
	The headers (aka messageTypes) of the messages used by the Pursuing task.
static const char *	MipTasks::pursuingStatesNames [PUR_STA_NUM]
	The names of the possible states of the Pursuing task.
static const char *	MipTasks::pursuingGuardUpdatingStatesNames [PURSUING_GUARD_UPDATING_NUM]
static const char *	MipTasks::pursuingGuardStatesNames [PUR_STA_FRONT_GUARD_NUM]
static const char *	MipTasks::pursuingWanderStatesNames [PUR_STA_WANDER_NUM]
static const char *	MipTasks::GuardUpdatingStateNames [PUR_GUARD_UPDATING_STA_NUM]

---

Detailed Description

Pursuing Task.

---

Typedef Documentation

typedef std::vector<Position > MipTasks::PositionPath

typedef std::vector<Position > MipTasks::ViewPoints

---

Enumeration Type Documentation

enum MipTasks::GuardUpdatingState

The possible states of the Pursuing task.

Author:

Antonio Franchi, Joey Durham and Arnaud Dufranne

Enumerator:

PUR_GUARD_UPDATING_STA_TODO
PUR_GUARD_UPDATING_STA_SENT_REQUEST
PUR_GUARD_UPDATING_STA_RECEIVED_VALID_REQUEST
PUR_GUARD_UPDATING_STA_DONE_UPDATING
PUR_GUARD_UPDATING_STA_NUM

enum MipTasks::PursuingGuardStates

The possible states of established guards in the Pursuing task.

Author:

Antonio Franchi, Joey Durham and Arnaud Dufranne

Enumerator:

PUR_STA_FRONT_GUARD_UPDATING
PUR_STA_FRONT_GUARD_SEND_FOLLOWER
PUR_STA_FRONT_GUARD_PLANNING
PUR_STA_FRONT_GUARD_NUM

enum MipTasks::PursuingGuardUpdatingStates

The possible states of updating guards in the Pursuing task.

Author:

Antonio Franchi, Joey Durham and Arnaud Dufranne

Enumerator:

PUR_STA_FRONT_GUARD_UPDATING_FREE
PUR_STA_FRONT_GUARD_UPDATING_WAITING
PURSUING_GUARD_UPDATING_NUM

enum MipTasks::PursuingMessageTypes

The messages used by the Pursuing task. A posteriori, we have four categories of messages:

• AsyncInfo (MY_POSE)
  
• AsyncRequest which can be received in every state aka UniversalAsyncRequest (GIMME_FRONTIER,GIMME_STATE,WANNA_BE_FOLLOWER)
  
• AsyncRequest which can be received only in the follow state (FOLLOW,EXPAND,WANDER)
  
• SyncAnswer (MY_FRONTIER,YOUR_NEW_FRONTIER,FOLLOW_ME,I_AM_NOT_A_GUARD_FRONTIER,I_AM_NOT_A_GUARD_AFFILIATION,MY_STATE). AsyncRequests and SyncAnswers are referred to as Dialog messages.

Author:

Antonio Franchi andArnaud Dufranne

Enumerator:

PUR_MES_MY_POSE	AsyncInfo.
PUR_MES_MY_STATE
PUR_MES_GIMME_FRONTIER	AsyncRequest which can be received in every state aka UniversalAsyncRequest.
PUR_MES_MY_FRONTIER	SyncAnswer.
PUR_MES_NO_GUARD_FRONTIER	SyncAnswer.
PUR_MES_YOUR_NEW_FRONTIER	SyncAnswer.
PUR_MES_FOLLOW	AsyncRequest which can be received only in the follow state.
PUR_MES_EXPAND	AsyncRequest which can be received only in the follow state.
PUR_MES_WANDER	AsyncRequest which can be received only in the follow state.
PUR_MES_WANNA_BE_FOLLOWER	AsyncRequest which can be received in every state aka UniversalAsyncRequest.
PUR_MES_NO_GUARD_AFFILIATION	SyncAnswer.
PUR_MES_FOLLOW_ME	SyncAnswer.
PUR_MES_NUM	Number of messages.

enum MipTasks::PursuingState

Enumerator:

WAITING
INITIALIZE
RUN
WAITING
INITIALIZE
RUN

enum MipTasks::PursuingState

Enumerator:

WAITING
INITIALIZE
RUN
WAITING
INITIALIZE
RUN

enum MipTasks::PursuingStates

The possible states of the Pursuing task.

Author:

Antonio Franchi, Joey Durham and Arnaud Dufranne

Enumerator:

PUR_STA_EXPAND	Expand.
PUR_STA_FRONT_GUARD	Frontier guard.
PUR_STA_FOLLOW	Follow.
PUR_STA_WANDER	Wander.
PUR_STA_NUM

enum MipTasks::PursuingWandererStates

The possible states of wanderers in the Pursuing task.

Author:

Antonio Franchi, Joey Durham and Arnaud Dufranne

Enumerator:

PUR_STA_WANDER_FREE
PUR_STA_WANDER_WAITING
PUR_STA_WANDER_NUM

---

Variable Documentation

int MipTasks::gMinArcSize = 2

int MipTasks::gMinMergeArcSize = 1

int MipTasks::gMinRadialArcSize = 3

const char* MipTasks::GuardUpdatingStateNames[PUR_GUARD_UPDATING_STA_NUM] [static]

Initial value:

 {
  "Pursuing Neighbouring Guard Todo",
 "Pursuing Neighbouring Guard Sent Request",
 "Pursuing Neighbouring Guard Received Valid Request",
 "Pursuing Neighbouring Guard Done Updating"
 }

const char* MipTasks::pursuingGuardStatesNames[PUR_STA_FRONT_GUARD_NUM] [static]

Initial value:

 {
  "Pursuing Guard Updating",
 "Pursuing Guard Updating Sending Follower",
 "Pursuing Guard Planning"
 }

const char* MipTasks::pursuingGuardUpdatingStatesNames[PURSUING_GUARD_UPDATING_NUM] [static]

Initial value:

 {
  "Pursuing Frontier Guard Updating Free",
 "Pursuing Frontier Guard Updating Waiting for frontier",
 }

const char* MipTasks::pursuingMessageStrings[PUR_MES_NUM] [static]

Initial value:

 {
 "MY_POSE",
 "MY_STATE",
 "GIMME_FRONTIER",
 "MY_FRONTIER",
 "NO_GUARD_FRONTIER",
 "YOUR_NEW_FRONTIER",
 "FOLLOW",
 "EXPAND",
 "WANDER",
 "WANNA_BE_FOLLOWER",
 "NO_GUARD_AFFILIATION",
 "FOLLOW_ME",
 }

The headers (aka messageTypes) of the messages used by the Pursuing task.

const char* MipTasks::pursuingStatesNames[PUR_STA_NUM] [static]

Initial value:

 {
  "Pursuit state Expand",
 "Pursuit state Frontier guard",
 "Pursuit state Follow",
 "Pursuit state Wander"
 }

The names of the possible states of the Pursuing task.

const char* MipTasks::pursuingWanderStatesNames[PUR_STA_WANDER_NUM] [static]

Initial value:

 {
  "Pursuing Wanderer Free",
 "Pursuing Wanderer Waiting For Leader response"
 }