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PotentialfieldComposition Class Reference

The main class for the potential field implementation. More...

#include <PotentialfieldComposition.h>

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List of all members.

Public Member Functions

 PotentialfieldComposition ()
 Constructor.

 ~PotentialfieldComposition ()
 Destructor.

void load (const std::string &filename)
 Loads a configuration file.

void close ()
 Destroys all objects and fields.

void execute (PotentialfieldResult &result)
 Executes computation.

void setName (const std::string &name)
 Sets the name.

std::string getName () const
 Returns the name.

void setObjectState (ObjectStateDescription &desc)
 Sets the state of one object (may set desc.objectId).

void setOwnPose (const PfPose &pose)
 Sets the own pose.

void addField (Potentialfield *field)
 Adds a new field to the composition.

void addObject (Object *object)
 Adds a new object to the composition.

void addDynamicObjectState (const std::string &objectName)
 Adds a new symbol for external object states.

unsigned int getIdFromObjectStateSymbol (const std::string &objectName)
 Returns the internal id of a symbol.

ObjectStateDescription getDescriptionFromId (unsigned int objectId)
 Returns a object description.

std::vector< std::string > getFieldNames ()
 Returns a list of the names of all fields.

void setFieldSelectionParameters (SelectionProcedure selectionProcedure, unsigned int n)
 Sets parameters for field selection.

void getValueArray (const std::string &fieldname, double x1, double y1, double x2, double y2, int xSteps, int ySteps, double value[], double &max)
 Computes an array of field values, used by visualization.

void getDirectionArray (const std::string &fieldname, double x1, double y1, double x2, double y2, int xSteps, int ySteps, PfVec directions[])
 Computes an array of gradient directions, used by visualization.

void setFieldActivation (const std::string &fieldname, bool activation)
 Activates or deactivates a field.


Private Member Functions

PotentialfieldResult selectNextResult ()
 Selects the next result from the list.

void addResultToList (const PotentialfieldResult &result)
 Adds a result to the list and keeps the size of the list <= n.

void updateDynamicObjects ()
 Updates the state of all dynamic objects.

unsigned int getFieldIndexFromName (const std::string &fieldname)
 Returns the index of a field.


Private Attributes

std::string name
 The name of the composition.

std::vector< Object * > objects
 A list of all objects.

NameToIndexMap objectMap
 Fast mapping from object names to indizes.

std::vector< ObjectStateDescription > dynamicObjectStates
 The states of the dynamic objects.

NameToIndexMap objectStateMap
 Fast mapping from object state names to indizes.

std::vector< Potentialfield * > fields
 A list of all fields.

NameToIndexMap fieldMap
 Fast mapping from field names to indizes.

std::vector< PotentialfieldResult > results
 A list for the results of all fields.

std::list< PotentialfieldResult > resultList
 A list for the selected results of the last runs.

PotentialfieldResult lastResult
 The result of the last run.

PfPose ownPose
 The own pose.

Parser * parser
 The parser.

bool fileLoaded
 A flag.

SelectionProcedure selectionProcedure
 The procedure to choose the next active field.

unsigned int n
 A parameter for the selectionProcedure.


Friends

class Parser
 The PotentialfieldComposition is a friend of its parser.

Detailed Description

The main class for the potential field implementation.

It contains all objects and fields, executes the fields and selects the best action.

Definition at line 123 of file PotentialfieldComposition.h.

Constructor & Destructor Documentation

PotentialfieldComposition::PotentialfieldComposition (   ) 
 

Constructor.

Definition at line 19 of file PotentialfieldComposition.cpp.

References PotentialfieldResult::action, fileLoaded, and PotentialfieldResult::timeStamp.

PotentialfieldComposition::~PotentialfieldComposition (   ) 
 

Destructor.

Definition at line 27 of file PotentialfieldComposition.cpp.

References close(), and fileLoaded.

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Member Function Documentation

void PotentialfieldComposition::load (  const std::string &  filename  ) 
 

Loads a configuration file.

Parameters:
filename The name of the file

Definition at line 36 of file PotentialfieldComposition.cpp.

References close(), fileLoaded, Parser::parse(), Parser, and parser.

Referenced by GTStandardConverter::load().

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void PotentialfieldComposition::close (   ) 
 

Destroys all objects and fields.

Definition at line 49 of file PotentialfieldComposition.cpp.

References dynamicObjectStates, fields, fileLoaded, and results.

Referenced by load(), and ~PotentialfieldComposition().

void PotentialfieldComposition::execute (  PotentialfieldResult &  result  ) 
 

Executes computation.

Parameters:
result Returns the result

Definition at line 69 of file PotentialfieldComposition.cpp.

References PotentialfieldResult::action, PotentialfieldResult::actionPossible, addResultToList(), fieldMap, PotentialfieldResult::fieldNumber, fields, PotentialfieldResult::motion, PfVec::normalize(), PfPose::normRotation(), ownPose, PfPose::pos, results, PfPose::rotation, selectNextResult(), PotentialfieldResult::timeStamp, updateDynamicObjects(), and PotentialfieldResult::value.

Referenced by GTStandardConverter::execute().

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void PotentialfieldComposition::setName (  const std::string &  name  )  [inline]
 

Sets the name.

Parameters:
name The name

Definition at line 148 of file PotentialfieldComposition.h.

std::string PotentialfieldComposition::getName (   )  const [inline]
 

Returns the name.

Returns:
The name

Definition at line 154 of file PotentialfieldComposition.h.

void PotentialfieldComposition::setObjectState (  ObjectStateDescription &  desc  ) 
 

Sets the state of one object (may set desc.objectId).

Parameters:
desc The description of the object and its new state

Definition at line 215 of file PotentialfieldComposition.cpp.

References dynamicObjectStates, getIdFromObjectStateSymbol(), ObjectStateDescription::isActive, ObjectStateDescription::objectId, ObjectStateDescription::objectName, and ObjectStateDescription::pose.

Referenced by GTStandardConverter::execute(), and GTStandardConverter::setData().

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void PotentialfieldComposition::setOwnPose (  const PfPose &  pose  ) 
 

Sets the own pose.

Parameters:
pose The pose

Definition at line 230 of file PotentialfieldComposition.cpp.

References ownPose.

Referenced by GTStandardConverter::setData().

void PotentialfieldComposition::addField (  Potentialfield *  field  ) 
 

Adds a new field to the composition.

Parameters:
field The field

Definition at line 236 of file PotentialfieldComposition.cpp.

References fieldMap, fields, Potentialfield::getName(), Potentialfield::init(), and results.

Referenced by Parser::parseActionfield(), and Parser::parseMotionfield().

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void PotentialfieldComposition::addObject (  Object *  object  ) 
 

Adds a new object to the composition.

Parameters:
object The object

Definition at line 246 of file PotentialfieldComposition.cpp.

References Object::getName().

Referenced by Parser::parseFormationObject(), and Parser::parseInstance().

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void PotentialfieldComposition::addDynamicObjectState (  const std::string &  objectName  ) 
 

Adds a new symbol for external object states.

Parameters:
objectName The name of the symbol

Definition at line 253 of file PotentialfieldComposition.cpp.

References dynamicObjectStates, ObjectStateDescription::isActive, ObjectStateDescription::objectId, ObjectStateDescription::objectName, and objectStateMap.

Referenced by Parser::parseObjectStateSymbol().

unsigned int PotentialfieldComposition::getIdFromObjectStateSymbol (  const std::string &  objectName  ) 
 

Returns the internal id of a symbol.

Parameters:
objectName The name of the symbol
Returns:
The identifier

Definition at line 264 of file PotentialfieldComposition.cpp.

References objectStateMap.

Referenced by GTStandardConverter::load(), Parser::parseInstance(), and setObjectState().

ObjectStateDescription PotentialfieldComposition::getDescriptionFromId (  unsigned int  objectId  ) 
 

Returns a object description.

Parameters:
objectId The object identifier
Returns:
The description

Definition at line 273 of file PotentialfieldComposition.cpp.

References dynamicObjectStates.

Referenced by Object::updateData().

std::vector< std::string > PotentialfieldComposition::getFieldNames (   ) 
 

Returns a list of the names of all fields.

Returns:
A vector containing the names

Definition at line 280 of file PotentialfieldComposition.cpp.

References fields.

Referenced by GTStandardConverter::getFieldNames().

void PotentialfieldComposition::setFieldSelectionParameters (  SelectionProcedure  selectionProcedure,
unsigned int  n
)  [inline]
 

Sets parameters for field selection.

Parameters:
selectionProcedure The selection mechanism
n A parameter for selectionProcedure

Definition at line 203 of file PotentialfieldComposition.h.

Referenced by Parser::parseComposition().

void PotentialfieldComposition::getValueArray (  const std::string &  fieldname,
double  x1,
double  y1,
double  x2,
double  y2,
int  xSteps,
int  ySteps,
double  value[],
double &  max
) 
 

Computes an array of field values, used by visualization.

Parameters:
fieldname The name of the potential field
x1 Minimum x-coordinate to compute
y1 Minimum y-coordinate to compute
x2 Maximum x-coordinate to compute
y2 Maximum y-coordinate to compute
xSteps The computation steps in x-direction
ySteps The computation steps in y-direction
value An array containing all computed values, memory has to be allocated BEFORE calling the function
max Returns the maximum value

Definition at line 309 of file PotentialfieldComposition.cpp.

References fields, getFieldIndexFromName(), Potentialfield::getValueArray(), max, and updateDynamicObjects().

Referenced by GTStandardConverter::getValueArray().

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void PotentialfieldComposition::getDirectionArray (  const std::string &  fieldname,
double  x1,
double  y1,
double  x2,
double  y2,
int  xSteps,
int  ySteps,
PfVec  directions[]
) 
 

Computes an array of gradient directions, used by visualization.

Parameters:
fieldname The name of the potential field
x1 Minimum x-coordinate to compute
y1 Minimum y-coordinate to compute
x2 Maximum x-coordinate to compute
y2 Maximum y-coordinate to compute
xSteps The computation steps in x-direction
ySteps The computation steps in y-direction
directions An array containing all computed gradients, memory has to be allocated BEFORE calling the function

Definition at line 319 of file PotentialfieldComposition.cpp.

References fields, Potentialfield::getDirectionArray(), getFieldIndexFromName(), and updateDynamicObjects().

Referenced by GTStandardConverter::getDirectionArray().

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void PotentialfieldComposition::setFieldActivation (  const std::string &  fieldname,
bool  activation
) 
 

Activates or deactivates a field.

Parameters:
fieldname The name of the field
activation true, if the field is to be activated; false, otherwise

Definition at line 292 of file PotentialfieldComposition.cpp.

References fields, and getFieldIndexFromName().

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PotentialfieldResult PotentialfieldComposition::selectNextResult (   )  [private]
 

Selects the next result from the list.

Returns:
The result

Definition at line 143 of file PotentialfieldComposition.cpp.

References BEST_OF_N, resultList, and selectionProcedure.

Referenced by execute().

void PotentialfieldComposition::addResultToList (  const PotentialfieldResult &  result  )  [private]
 

Adds a result to the list and keeps the size of the list <= n.

Parameters:
result The result

Definition at line 205 of file PotentialfieldComposition.cpp.

References resultList.

Referenced by execute().

void PotentialfieldComposition::updateDynamicObjects (   )  [private]
 

Updates the state of all dynamic objects.

Definition at line 329 of file PotentialfieldComposition.cpp.

Referenced by execute(), getDirectionArray(), and getValueArray().

unsigned int PotentialfieldComposition::getFieldIndexFromName (  const std::string &  fieldname  )  [inline, private]
 

Returns the index of a field.

Parameters:
fieldname The name of the field
Returns:
The index

Definition at line 299 of file PotentialfieldComposition.cpp.

References fieldMap.

Referenced by getDirectionArray(), getValueArray(), and setFieldActivation().

Friends And Related Function Documentation

friend class Parser [friend]
 

The PotentialfieldComposition is a friend of its parser.

Definition at line 241 of file PotentialfieldComposition.h.

Referenced by load().

Member Data Documentation

std::string PotentialfieldComposition::name [private]
 

The name of the composition.

Definition at line 245 of file PotentialfieldComposition.h.

std::vector<Object*> PotentialfieldComposition::objects [private]
 

A list of all objects.

Definition at line 247 of file PotentialfieldComposition.h.

Referenced by Parser::getInstance().

NameToIndexMap PotentialfieldComposition::objectMap [private]
 

Fast mapping from object names to indizes.

Definition at line 249 of file PotentialfieldComposition.h.

Referenced by Parser::getInstance().

std::vector<ObjectStateDescription> PotentialfieldComposition::dynamicObjectStates [private]
 

The states of the dynamic objects.

Definition at line 251 of file PotentialfieldComposition.h.

Referenced by addDynamicObjectState(), close(), getDescriptionFromId(), and setObjectState().

NameToIndexMap PotentialfieldComposition::objectStateMap [private]
 

Fast mapping from object state names to indizes.

Definition at line 253 of file PotentialfieldComposition.h.

Referenced by addDynamicObjectState(), and getIdFromObjectStateSymbol().

std::vector<Potentialfield*> PotentialfieldComposition::fields [private]
 

A list of all fields.

Definition at line 255 of file PotentialfieldComposition.h.

Referenced by addField(), close(), execute(), getDirectionArray(), getFieldNames(), getValueArray(), and setFieldActivation().

NameToIndexMap PotentialfieldComposition::fieldMap [private]
 

Fast mapping from field names to indizes.

Definition at line 257 of file PotentialfieldComposition.h.

Referenced by addField(), execute(), and getFieldIndexFromName().

std::vector<PotentialfieldResult> PotentialfieldComposition::results [private]
 

A list for the results of all fields.

Definition at line 259 of file PotentialfieldComposition.h.

Referenced by addField(), close(), and execute().

std::list<PotentialfieldResult> PotentialfieldComposition::resultList [private]
 

A list for the selected results of the last runs.

Definition at line 261 of file PotentialfieldComposition.h.

Referenced by addResultToList(), and selectNextResult().

PotentialfieldResult PotentialfieldComposition::lastResult [private]
 

The result of the last run.

Definition at line 263 of file PotentialfieldComposition.h.

PfPose PotentialfieldComposition::ownPose [private]
 

The own pose.

Definition at line 265 of file PotentialfieldComposition.h.

Referenced by execute(), and setOwnPose().

Parser* PotentialfieldComposition::parser [private]
 

The parser.

Definition at line 267 of file PotentialfieldComposition.h.

Referenced by load().

bool PotentialfieldComposition::fileLoaded [private]
 

A flag.

Definition at line 269 of file PotentialfieldComposition.h.

Referenced by close(), load(), PotentialfieldComposition(), and ~PotentialfieldComposition().

SelectionProcedure PotentialfieldComposition::selectionProcedure [private]
 

The procedure to choose the next active field.

Definition at line 271 of file PotentialfieldComposition.h.

Referenced by selectNextResult().

unsigned int PotentialfieldComposition::n [private]
 

A parameter for the selectionProcedure.

Definition at line 273 of file PotentialfieldComposition.h.

The documentation for this class was generated from the following files:
Generated on Thu Sep 23 20:10:50 2004 for GT2004 by doxygen 1.3.6