Actionfield Class Reference

A class for selecting an action using potentialfields. More...

#include <Actionfield.h>

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[legend]List of all members.


Public Member Functions
	Actionfield (const std::string &name)
	Constructor.
virtual	~Actionfield ()
	Destructor.
virtual void	init ()
	Initializes values and / or allocates additional memory for subsequent computations.
void	execute (const PfPose &pose, PotentialfieldResult &result)
	Computes the result of a field.
virtual void	addObject (Object *object)
	Adds an object to the field.
void	addAction (const Action &action)
	Adds an action to the field.
void	setActionfieldType (ActionfieldType actionfieldType, bool decreasingValuesOnly=false, unsigned int searchDepth=0)
	Sets the type of the action field.
void	setConsiderTime (bool considerTime)
	Sets the value of considerTime.
PfVec	getFutureFieldVecAt (const PfPose &pose, const std::vector< Object * > &dynamicObjects, int excludedDynamicObject=-1)
	Computes the gradient at a spezific pose in a field consisting of all static objects and all the other, possibly transformed, objects.
BehaviorFieldType	getBehaviorFieldType () const
	Returns the type of the field.
Protected Member Functions
double	computeValueAtPose (const PfPose &pose, const std::vector< Object * > &dynamicObjects, int excludedDynamicObject=-1)
	Computes the value at a spezific pose in a field consisting of all static objects and all the other, possibly transformed, objects.
double	computeActionValue (const Action &action, double time, const PfPose &ownPoseBefore, const PfPose &ownPoseAfter, const std::vector< Object * > &objectsBefore, const std::vector< Object * > &objectsAfter, bool &passedPruningCheck)
	Computes the value of an action considering the criterion.
void	addManipulatedObject (Action &action)
	Adds a manipulated object to the object lists (if it has not been added before) and sets the objectIdx member of the action.
void	findBestSequence (unsigned int depth, const PfPose &robotPose, std::vector< unsigned int > &actionSequenceList, double time, double previousValue, PotentialfieldResult &result)
	Searches recursively for the best possible action sequence and sets the result.
Protected Attributes
std::vector< Object * >	staticObjects
	Container for static objects.
std::vector< Object * >	dynamicObjects
	Container for dynamic objects.
std::vector< std::vector< Object * > >	futureWorldStates
	The future world states.
std::vector< PfPose >	futureRobotPoses
	The future poses of the robot.
std::vector< Action >	actions
	The actions to be applied.
FutureWorldModelGenerator *	futureWorldModelGenerator
	A pointer to the FutureWorldModelGenerator.
ActionfieldType	actionfieldType
	The type of this action field.
unsigned int	worldStateDepth
	The depth of future world states.
bool	decreasingValuesOnly
	Pruning option, accept only sequences with decreasing values.
double	maxTolerance
	Pruning option, maximum deviation between two action values.
bool	considerTime
	Flag: true, if the time of an action when computing its value is to be considered.

Detailed Description

A class for selecting an action using potentialfields.

Definition at line 96 of file Actionfield.h.

Constructor & Destructor Documentation

Actionfield::Actionfield ( const std::string & name )

Constructor.

Definition at line 140 of file Actionfield.cpp.
References futureWorldModelGenerator, and FutureWorldModelGenerator::getFutureWorldModelGenerator().

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Actionfield::~Actionfield ( ) [virtual]

Destructor.

Definition at line 147 of file Actionfield.cpp.
References actions, dynamicObjects, futureWorldStates, and worldStateDepth.

Member Function Documentation

void Actionfield::init ( ) [virtual]

Initializes values and / or allocates additional memory for subsequent computations.
This function should be called after all values are set and all objects and actions have been assigned
Reimplemented from Potentialfield.
Definition at line 162 of file Actionfield.cpp.
References actionfieldType, actions, addManipulatedObject(), dynamicObjects, FIXED_SEQUENCE_FIELD, futureRobotPoses, futureWorldStates, MEASURE_OBJECT, MOVE_OBJECT, SINGLE_ACTION_FIELD, and worldStateDepth.

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void Actionfield::execute ( const PfPose & pose,

PotentialfieldResult & result

) [virtual]

Computes the result of a field.

Parameters:

pose The pose of the robot on which the field affects

result The returned result

Implements Potentialfield.
Definition at line 236 of file Actionfield.cpp.
References actionfieldType, PotentialfieldResult::actionPossible, actions, computeActionValue(), CRITERION_CONST, dynamicObjects, findBestSequence(), FIXED_SEQUENCE_FIELD, futureRobotPoses, futureWorldModelGenerator, futureWorldStates, PotentialfieldResult::motion, SINGLE_ACTION_FIELD, PfPose::speed, staticObjects, PotentialfieldResult::subAction, FutureWorldModelGenerator::transformWorldState(), PotentialfieldResult::value, and worldStateDepth.

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void Actionfield::addObject ( Object * object ) [virtual]

Adds an object to the field.

Parameters:

object The object

Reimplemented from Potentialfield.
Definition at line 200 of file Actionfield.cpp.
References Potentialfield::addObject(), dynamicObjects, Object::isStatic(), and staticObjects.

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void Actionfield::addAction ( const Action & action )

Adds an action to the field.

Parameters:

action The action

Definition at line 230 of file Actionfield.cpp.
References actions.
Referenced by Parser::parseActionfield().

void Actionfield::setActionfieldType ( ActionfieldType actionfieldType,

bool decreasingValuesOnly = false,

unsigned int searchDepth = 0

) [inline]

Sets the type of the action field.

Parameters:

actionfieldType The type

decreasingValuesOnly Pruning option, used for sequences

searchDepth The searchDepth used if (actionfieldType==FIND_BEST_SEQUENCE)

Definition at line 131 of file Actionfield.h.
References decreasingValuesOnly, and worldStateDepth.
Referenced by Parser::parseActionfield().

void Actionfield::setConsiderTime ( bool considerTime ) [inline]

Sets the value of considerTime.

Parameters:

considerTime The new value for considerTime

Definition at line 141 of file Actionfield.h.
Referenced by Parser::parseActionfield().

PfVec Actionfield::getFutureFieldVecAt ( const PfPose & pose,

const std::vector< Object * > & dynamicObjects,

int excludedDynamicObject = -1

)

Computes the gradient at a spezific pose in a field consisting of all static objects and all the other, possibly transformed, objects.

Parameters:

pose The pose to compute the gradient at

dynamicObjects A set of objects

excludedDynamicObject An object not to use for gradient computation

Returns:
The gradient at pose

Definition at line 403 of file Actionfield.cpp.
References staticObjects.
Referenced by FutureWorldModelGenerator::executeSingleTransformation().

BehaviorFieldType Actionfield::getBehaviorFieldType ( ) const [inline, virtual]

Returns the type of the field.

Returns:
The type

Implements Potentialfield.
Definition at line 157 of file Actionfield.h.
References ACTION_FIELD, and BehaviorFieldType.

double Actionfield::computeValueAtPose ( const PfPose & pose,

const std::vector< Object * > & dynamicObjects,

int excludedDynamicObject = -1

) [protected]

Computes the value at a spezific pose in a field consisting of all static objects and all the other, possibly transformed, objects.

Parameters:

pose The pose to compute the value at

dynamicObjects A set of objects

excludedDynamicObject An object not to use for value computation

Returns:
The value at pose

Definition at line 373 of file Actionfield.cpp.
References staticObjects.
Referenced by computeActionValue().

double Actionfield::computeActionValue ( const Action & action,

double time,

const PfPose & ownPoseBefore,

const PfPose & ownPoseAfter,

const std::vector< Object * > & objectsBefore,

const std::vector< Object * > & objectsAfter,

bool & passedPruningCheck

) [protected]

Computes the value of an action considering the criterion.

Parameters:

action The action

time The execution of the action / action sequence

ownPoseBefore The robot pose before the action

ownPoseAfter The robot pose after the action

objectsBefore The state of the objects before the action

objectsAfter The state of the objects after the action

passedPruningCheck Flag: true, if the action has not to be pruned

Returns:
The value

Definition at line 433 of file Actionfield.cpp.
References Action::actionType, computeValueAtPose(), considerTime, CRITERION_ABSOLUTE, CRITERION_GAIN, decreasingValuesOnly, EPSILON, MEASURE_OBJECT, MEASURE_SELF, MOVE_OBJECT, MOVE_SELF, and Action::objectIdx.
Referenced by execute(), and findBestSequence().

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void Actionfield::addManipulatedObject ( Action & action ) [protected]

Adds a manipulated object to the object lists (if it has not been added before) and sets the objectIdx member of the action.

Parameters:

action The action manipulating the object

Definition at line 214 of file Actionfield.cpp.
References dynamicObjects, Action::manipulatedObject, and Action::objectIdx.
Referenced by init().

void Actionfield::findBestSequence ( unsigned int depth,

const PfPose & robotPose,

std::vector< unsigned int > & actionSequenceList,

double time,

double previousValue,

PotentialfieldResult & result

) [protected]

Searches recursively for the best possible action sequence and sets the result.

Parameters:

depth The current depth

robotPose The pose of the robot before any actions

actionSequenceList A list with the sequence of actions

time The time of the previous sequence

previousValue The previous value of the sequence

result The currently best result of the search

Definition at line 331 of file Actionfield.cpp.
References actions, computeActionValue(), dynamicObjects, futureRobotPoses, futureWorldModelGenerator, futureWorldStates, PotentialfieldResult::motion, staticObjects, PotentialfieldResult::subAction, FutureWorldModelGenerator::transformWorldState(), PotentialfieldResult::value, and worldStateDepth.
Referenced by execute().

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Member Data Documentation

std::vector<Object*> Actionfield::staticObjects [protected]

Container for static objects.

Definition at line 162 of file Actionfield.h.
Referenced by addObject(), computeValueAtPose(), execute(), findBestSequence(), and getFutureFieldVecAt().

std::vector<Object*> Actionfield::dynamicObjects [protected]

Container for dynamic objects.

Definition at line 164 of file Actionfield.h.
Referenced by addManipulatedObject(), addObject(), execute(), findBestSequence(), init(), and ~Actionfield().

std::vector< std::vector<Object*> > Actionfield::futureWorldStates [protected]

The future world states.

Definition at line 166 of file Actionfield.h.
Referenced by execute(), findBestSequence(), init(), and ~Actionfield().

std::vector< PfPose > Actionfield::futureRobotPoses [protected]

The future poses of the robot.

Definition at line 168 of file Actionfield.h.
Referenced by execute(), findBestSequence(), and init().

std::vector<Action> Actionfield::actions [protected]

The actions to be applied.

Definition at line 170 of file Actionfield.h.
Referenced by addAction(), execute(), findBestSequence(), init(), and ~Actionfield().

FutureWorldModelGenerator* Actionfield::futureWorldModelGenerator [protected]

A pointer to the FutureWorldModelGenerator.

Definition at line 172 of file Actionfield.h.
Referenced by Actionfield(), execute(), and findBestSequence().

ActionfieldType Actionfield::actionfieldType [protected]

The type of this action field.

Definition at line 174 of file Actionfield.h.
Referenced by execute(), and init().

unsigned int Actionfield::worldStateDepth [protected]

The depth of future world states.

Definition at line 176 of file Actionfield.h.
Referenced by execute(), findBestSequence(), init(), setActionfieldType(), and ~Actionfield().

bool Actionfield::decreasingValuesOnly [protected]

Pruning option, accept only sequences with decreasing values.

Definition at line 178 of file Actionfield.h.
Referenced by computeActionValue(), and setActionfieldType().

double Actionfield::maxTolerance [protected]

Pruning option, maximum deviation between two action values.

Definition at line 180 of file Actionfield.h.

bool Actionfield::considerTime [protected]

Flag: true, if the time of an action when computing its value is to be considered.

Definition at line 182 of file Actionfield.h.
Referenced by computeActionValue().

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

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

Generated on Thu Sep 23 20:04:09 2004 for GT2004 by

1.3.6

Actionfield Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation