Action Class Reference

A class describing a single action. More...

#include <Actionfield.h>

Collaboration diagram for Action:

[legend]List of all members.

Public Member Functions
	Action ()
	Constructor.
	~Action ()
	Destructor.
	Action (const Action &a)
	Copy-Constructor.
bool	canBeApplied (const PfPose &robotPose, const std::vector< Object * > &objects)
	Checks if this Action can be applied.
Public Attributes
std::string	name
	The name of the action.
Object *	manipulatedObject
	The manipulated object.
unsigned int	objectIdx
	Index of the manipulated object in a dynamicObjects field (for internal use).
bool	joinAction
	Flag, true if the robot joins the action.
std::vector< Polygon >	impactAreas
	The impact areas.
std::vector< PotentialfieldTransformation * >	transformations
	The transformations.
ActionType	actionType
	The type of the action.
PfPose	motionParameters
	Motion parameters resulting from some transformations.
double	time
	The time this action takes.
Protected Member Functions
bool	poseInsideImpactArea (const PfPose &robPose, const PfPose &objPose)
	Checks if a single pose is inside any of the robot's impact areas.

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Detailed Description

A class describing a single action.

Definition at line 40 of file Actionfield.h.

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Constructor & Destructor Documentation

Action::Action (   )

Constructor. Definition at line 17 of file Actionfield.cpp. References manipulatedObject.

Action::~Action (   )

Destructor. Definition at line 24 of file Actionfield.cpp. References impactAreas, and transformations.

Action::Action (  const Action &  a  )

Copy-Constructor. Parameters: a  Another action Definition at line 36 of file Actionfield.cpp. References actionType, impactAreas, joinAction, manipulatedObject, name, and transformations.

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Member Function Documentation

bool Action::canBeApplied (  const PfPose &  robotPose, const std::vector< Object * > &  objects )

Checks if this Action can be applied. Parameters: robotPose  The current pose of the robot objects  A list of objects, containing a current version of the manipulated object Definition at line 51 of file Actionfield.cpp. References actionType, PfPose::hasProbabilityDistribution, MEASURE_OBJECT, MEASURE_SELF, MOVE_SELF, objectIdx, poseInsideImpactArea(), and PfPose::probabilityDistribution. Referenced by FutureWorldModelGenerator::executeSingleTransformation().

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bool Action::poseInsideImpactArea (  const PfPose &  robPose, const PfPose &  objPose )  [inline, protected]

Checks if a single pose is inside any of the robot's impact areas. Parameters: robPose  The robot pose objPose  The pose of an object Returns: true, if the pose is inside any impact area Definition at line 122 of file Actionfield.cpp. References impactAreas, PfPose::pos, PfVec::rotate(), and PfPose::rotation. Referenced by canBeApplied().

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Member Data Documentation

std::string Action::name

The name of the action. Definition at line 44 of file Actionfield.h. Referenced by Action(), and Parser::parseActionfield().

Object* Action::manipulatedObject

The manipulated object. Definition at line 46 of file Actionfield.h. Referenced by Action(), Actionfield::addManipulatedObject(), and Parser::parseAction().

unsigned int Action::objectIdx

Index of the manipulated object in a dynamicObjects field (for internal use). Definition at line 48 of file Actionfield.h. Referenced by Actionfield::addManipulatedObject(), canBeApplied(), Actionfield::computeActionValue(), FutureWorldModelGenerator::executeSingleTransformation(), and FutureWorldModelGenerator::transformWorldState().

bool Action::joinAction

Flag, true if the robot joins the action. Definition at line 50 of file Actionfield.h. Referenced by Action(), FutureWorldModelGenerator::executeSingleTransformation(), Parser::parseAction(), and FutureWorldModelGenerator::transformWorldState().

std::vector<Polygon> Action::impactAreas

The impact areas. Definition at line 52 of file Actionfield.h. Referenced by Action(), Parser::parseAction(), poseInsideImpactArea(), and ~Action().

std::vector<PotentialfieldTransformation*> Action::transformations

The transformations. Definition at line 54 of file Actionfield.h. Referenced by Action(), Parser::parseAction(), FutureWorldModelGenerator::transformWorldState(), and ~Action().

ActionType Action::actionType

The type of the action. Definition at line 56 of file Actionfield.h. Referenced by Action(), canBeApplied(), Actionfield::computeActionValue(), FutureWorldModelGenerator::executeSingleTransformation(), Parser::parseAction(), and FutureWorldModelGenerator::transformWorldState().

PfPose Action::motionParameters

Motion parameters resulting from some transformations. Definition at line 58 of file Actionfield.h. Referenced by FutureWorldModelGenerator::executeSingleTransformation().

double Action::time

The time this action takes. Definition at line 60 of file Actionfield.h. Referenced by FutureWorldModelGenerator::transformWorldState().

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

• Tools/PotentialFields/Actionfield.h
• Tools/PotentialFields/Actionfield.cpp

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