conscience_core::bridging::commands::environment_entities::CommandEntityToPosition Class Reference

#include <CommandEntityToPosition.h>

Inheritance diagram for conscience_core::bridging::commands::environment_entities::CommandEntityToPosition:

Public Member Functions
	CommandEntityToPosition (const CscPoint3d *targetPosition, ptr< CscEntityReflexion > entityReflexion, CscArea3d *zone=nullptr, optional< double > distanceWithObjectAutorized={}, optional< int > matrixSize={}, const CscPoint3d *startPosition=nullptr, optional< bool > useGnssCoordinates={}, const vector< string > *placeModelIdsToIgnore=nullptr, optional< CommandEntityToPositionAlgorithm > algorithm={})
	~CommandEntityToPosition () override
void	setDoNotPlayResult (bool value)
void	setDeletePointers (bool value)
void	setCartographyPoints (const vector< CscPoint3d * > *cartographyPoints)
Public Member Functions inherited from conscience_core::bridging::commands::CscCommand
const CscCommandExecutionResult *	_execute (CscEnvironmentSimulator &environmentSimulator)
template<class TResult = CscCommandExecutionResult>
const TResult *	execute (CscEnvironmentSimulator &environmentSimulator)
const CommandTypeId &	getTypeId () const
virtual	~CscCommand ()
void	setOriginalCommandString (string command)

Static Public Attributes
static const CommandTypeId	COMMAND_ID = "ENTITY_TO_POSITION"
static constexpr int	ERROR_CODE_UNREACHABLE = -1
static constexpr int	ERROR_CODE_OUTSIDE_ZONE = -2
static constexpr int	ERROR_CODE_ENTITY_REFLEXION_NOT_FOUND = -3
static constexpr int	ERROR_CODE_TOO_CLOSE = -4

Protected Member Functions
const CscCommandExecutionResultSequence *	doExecute (CscEnvironmentSimulator &environmentSimulator) override
ptr< CscEntityReflexion >	getEntityReflexion () const override
Protected Member Functions inherited from conscience_core::bridging::commands::CscCommand
	CscCommand (const CommandTypeId &typeId)
const CscCommandExecutionResultNone *	resultNone ()
const CscCommandExecutionResultSequence *	resultSequence (CscSequence *sequence, const string &entitySerialNumber, bool doNotPlay=false)
const CscCommandExecutionResultFile *	resultFile (const fs::path &resultingFilePath)
template<class TResult >
const CscCommandExecutionResultObject< TResult > *	resultObject (TResult *result)
const CscWorldElementId	getEntityId () const

Additional Inherited Members
Public Types inherited from conscience_core::bridging::commands::CscCommand
typedef function< void(CscCommand *command)>	CommandExecutedListener
Static Public Member Functions inherited from conscience_core::bridging::commands::CscCommand
static void	addCommandExecutedListener (CommandExecutedListener listener)
Protected Attributes inherited from conscience_core::bridging::commands::CscCommand
const CommandTypeId	typeId
optional< string >	originalCommandString = {}

Detailed Description

The Entity to Position command generates a sequence of positions that the entity must follow to reach a target position. The shortest path is generated by taking into account the objects in the scene and the scene itself. Returns detected objects positions.

Constructor & Destructor Documentation

CommandEntityToPosition()

conscience_core::bridging::commands::environment_entities::CommandEntityToPosition::CommandEntityToPosition	(	const CscPoint3d *	targetPosition,
		ptr< CscEntityReflexion >	entityReflexion,
		CscArea3d *	zone = nullptr,
		optional< double >	distanceWithObjectAutorized = {},
		optional< int >	matrixSize = {},
		const CscPoint3d *	startPosition = nullptr,
		optional< bool >	useGnssCoordinates = {},
		const vector< string > *	placeModelIdsToIgnore = nullptr,
		optional< CommandEntityToPositionAlgorithm >	algorithm = {}
	)

Parameters

targetPosition	position to be reached
entityReflexion	entity to be moved
zone	the zone in which apply the path search. The bigger the slower. Units in cm. Leave empty to let command decide a default area
distanceWithObjectAutorized	safety distance with obstacles
matrixSize	number or rows / columns in the grid
startPosition	leave null to start from robot position (main case)
useGnssCoordinates
placeModelIdsToIgnore

~CommandEntityToPosition()

conscience_core::bridging::commands::environment_entities::CommandEntityToPosition::~CommandEntityToPosition ( )

override

Member Function Documentation

doExecute()

const CscCommandExecutionResultSequence * conscience_core::bridging::commands::environment_entities::CommandEntityToPosition::doExecute ( CscEnvironmentSimulator &  environmentSimulator )

overrideprotectedvirtual

Implements conscience_core::bridging::commands::CscCommand.

getEntityReflexion()

ptr< CscEntityReflexion > conscience_core::bridging::commands::environment_entities::CommandEntityToPosition::getEntityReflexion ( ) const

overrideprotectedvirtual

return entity reflexion if this command applies on an entityReflexion, otherwise return nullptr

Implements conscience_core::bridging::commands::CscCommand.

setCartographyPoints()

void conscience_core::bridging::commands::environment_entities::CommandEntityToPosition::setCartographyPoints

(

const vector< CscPoint3d * > *

cartographyPoints

)

this setters enable to provide an optional cloud of cartography points to be taken in account in obstacles

setDeletePointers()

void conscience_core::bridging::commands::environment_entities::CommandEntityToPosition::setDeletePointers

(

bool

value

)

Parameters

value

pass false if you want this command NOT to delete its pointers (received from constructors), as an optimization

setDoNotPlayResult()

void conscience_core::bridging::commands::environment_entities::CommandEntityToPosition::setDoNotPlayResult

(

bool

value

)

Parameters

value

pass true if you want this command's result not to be played in environment when executed. For instance if resulting sequence is used in another way (from another command..)

Member Data Documentation

COMMAND_ID

const CommandTypeId conscience_core::bridging::commands::environment_entities::CommandEntityToPosition::COMMAND_ID = "ENTITY_TO_POSITION"

inlinestatic

ERROR_CODE_ENTITY_REFLEXION_NOT_FOUND

constexpr int conscience_core::bridging::commands::environment_entities::CommandEntityToPosition::ERROR_CODE_ENTITY_REFLEXION_NOT_FOUND = -3

staticconstexpr

ERROR_CODE_OUTSIDE_ZONE

constexpr int conscience_core::bridging::commands::environment_entities::CommandEntityToPosition::ERROR_CODE_OUTSIDE_ZONE = -2

staticconstexpr

ERROR_CODE_TOO_CLOSE

constexpr int conscience_core::bridging::commands::environment_entities::CommandEntityToPosition::ERROR_CODE_TOO_CLOSE = -4

staticconstexpr

ERROR_CODE_UNREACHABLE

constexpr int conscience_core::bridging::commands::environment_entities::CommandEntityToPosition::ERROR_CODE_UNREACHABLE = -1

staticconstexpr

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

• Bridging/EnvironmentInteractionCommands/CommandEntityToPosition.h
• Bridging/EnvironmentInteractionCommands/CommandEntityToPosition.cpp