GotoRobotController Class Reference

#include <gotoRobotController.h>

Inherits SubController.

Collaboration diagram for GotoRobotController:

[legend]

List of all members.

Public Member Functions
	GotoRobotController (const std::string &name, srCore::RobotActorBase *robotActor)
CtrlMsg *	Act (CtrlMsg *message)
	Transforms visual indicated locations into wheel commands.

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Detailed Description

This file gotoRobotController.h is created at Almende B.V. It is open-source software and part of the Common Hybrid Agent Platform (CHAP). A toolbox with a lot of open-source tools. Ranging from thread pools, and TCP/IP components to control architectures and learning algorithms.

There are no licenses involved.

Author:

Anne C. van Rossum

Date:

Jan 19, 2010

Project:

Replicator FP7

Company:

Almende B.V.

Cases:

This class is a subcontroller. It assumes a LOCATION_IN_VIEW signal as input to the Act function and outputs a series of WHEEL_COMMANDS. Those outputs can be subsumed by another module in the overall controller, for example to actually dock to a robot.

Definition at line 30 of file gotoRobotController.h.

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Constructor & Destructor Documentation

GotoRobotController::GotoRobotController	(	const std::string &	name,
		srCore::RobotActorBase *	robotActor
	)

Todo:

Check if robotActor is really necessary for this subcontroller

Parameters:

	name
	robotActor

Returns:

Definition at line 39 of file gotoRobotController.cpp.

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Member Function Documentation

CtrlMsg * GotoRobotController::Act

(

CtrlMsg *

message

)

[virtual]

Transforms visual indicated locations into wheel commands.

This function uses the output of the DetectRobotVisually class. That class uses the visual information to detect where there is a robot-like blob. First using a low-resolution saliency model and next by using SIFT object detection. This class uses this information to actually control the robot to navigate towards this detected object in the visual field.

Location is between -1.0 and +1.0

The wheels are driven by the location (only forwards)

Overwrite the outgoing message that will be sent

Reimplemented from SubController.

Definition at line 56 of file gotoRobotController.cpp.

References SubController::outgoingMsg.

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

• inc/controllers/positionControllers/gotoRobotController.h
• src/controllers/positionControllers/gotoRobotController.cpp