Action Class Reference

#include <Actionfield.h>

List of all members.

Public Member Functions

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

Public Attributes

std::string name
ObjectmanipulatedObject
unsigned int objectIdx
bool joinAction
std::vector< PolygonimpactAreas
std::vector< PotentialfieldTransformation * > transformations
ActionType actionType
PfPose motionParameters
double time

Protected Member Functions

bool poseInsideImpactArea (const PfPose &robPose, const PfPose &objPose)


Detailed Description

A class describing a single action

Definition at line 40 of file Actionfield.h.


Constructor & Destructor Documentation

Action::Action (  ) 

Constructor

Definition at line 17 of file Actionfield.cpp.

References manipulatedObject, and name.

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.


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().

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().


Member Data Documentation

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().

std::vector<Polygon> Action::impactAreas

The impact areas

Definition at line 52 of file Actionfield.h.

Referenced by Action(), Parser::parseAction(), poseInsideImpactArea(), and ~Action().

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().

Object* Action::manipulatedObject

The manipulated object

Definition at line 46 of file Actionfield.h.

Referenced by Action(), Actionfield::addManipulatedObject(), and Parser::parseAction().

PfPose Action::motionParameters

Motion parameters resulting from some transformations

Definition at line 58 of file Actionfield.h.

Referenced by FutureWorldModelGenerator::executeSingleTransformation().

std::string Action::name

The name of the action

Definition at line 44 of file Actionfield.h.

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

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().

double Action::time

The time this action takes

Definition at line 60 of file Actionfield.h.

Referenced by FutureWorldModelGenerator::transformWorldState().

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

The transformations

Definition at line 54 of file Actionfield.h.

Referenced by Action(), Parser::parseAction(), FutureWorldModelGenerator::transformWorldState(), and ~Action().


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:18:45 2006 for DT2005.panorama by  doxygen 1.4.7