#include <CscSequencePositionStrategy.h>

Inheritance diagram for conscience_core::sequences_processor::CscSequencePositionStrategy:

Public Member Functions
	CscSequencePositionStrategy (CscSequence globalSequence, const string &worldEntityId, CscEnvironmentSimulator simulator)

	~CscSequencePositionStrategy () override

void	process () override

bool	isProcessed () override

void	lastProcess () override

int	getSequenceIndex () override

void	breakSequence () override

void	terminateSequence () override

Public Member Functions inherited from conscience_core::sequences_processor::CscAbstractSequenceProcessingStrategy
	CscAbstractSequenceProcessingStrategy (CscSequence globalSequence, const string &worldEntityId, CscEnvironmentSimulator simulator)

virtual	~CscAbstractSequenceProcessingStrategy ()

virtual void	setSequenceIndex (int index)

virtual void	resumeSequence ()

CscSequence *	getGlobalSequence () const

Protected Member Functions
void	computeWheelPower ()

void	updateCurrentEntityInformations ()

void	computeSpeedPowerFromTwoPositionAndDelta (CscPoint3d currentPosition, CscPoint3d firstPosition, CscPoint3d *secondPosition, double delta)
	compute power off wheel with the current position and two other position. use the enslavement parameter distanceDividerForComputeSpeed,coefficientForComputeSpeed and exponentForComputeSpeed for compute the power with the distance between the current position and the first and second position. Use the parameter degreesDeltaForSpeedTurnPercentage for lower the speed with the delta of orientation More...

double	computeDistanceBetweenTwoPoint (CscPoint3d firstPoint, CscPoint3d secondPoint)
	compute the distance between two position More...

void	setReferenceStartForComputeSpeed (CscPoint3d *position)
	return a state with the power on all wheels More...

bool	entityArrivedToTarget (CscPoint3d currentPosition, CscPoint3d projectedPosition, CscPoint3d lastTarget, CscPoint3d target, double distance)

void	entityForwardOrBackward (double speed, double delta)
	update the power left and right wheel , and applicate a correction with the orientation delta More...

void	entityTurn (double delta, double val, bool backward=false)
	update the power left and right wheel , and applicate a correction with the orientation delta More...

CscState *	getNewStateWithWheelPower (double leftPower, double rightPower)
	return a state with the good value for the wheel with the power left and right give More...

double	positionErrorOnLine (CscPoint3d currentPos, CscPoint3d linePoint1, CscPoint3d *linePoint2)
	return the small distance between the current positon and the ligne More...

void	enslavementWheelPower (double speed, double error)
	this method actualise the power left and right of wheels, she use a PID for compute correction for wheels in function of error. NOTE : information for PID / enslavement at https://intranet.conscience.live/utilisation-de-lasservissement-du-sequence-processor-pour-la-navigation More...

double	computeEnslavementError (CscPoint3d position, double heading, CscPoint3d linePoint1, CscPoint3d *linePoint2)
	this method calculates the error according to the position and the orientation of the robot, as well as the point of departure and arrival. the error is in degrees More...

CscPoint3d	getProjectedPositionOnLine (CscPoint3d position, CscPoint3d linePoint1, CscPoint3d *linePoint2)
	the method returns a position projected on the line. This means the position closest to the position provided and which is on the line formed by point 1 and point 2 More...

double	getYawInDegreesFromSimulatorPositionAndRotation (CscPoint3dOriented *positionAndRotation)

void	updateDeltaAndPositionError ()

Protected Member Functions inherited from conscience_core::sequences_processor::CscAbstractSequenceProcessingStrategy
uint64_t	getNextTimeWithDuration (uint64_t duration=0)

Protected Attributes
int	index = 0

CscPoint3d *	currentPosition = new CscPoint3d(0, 0, 0)

CscPoint3d *	positionForComputeSpeed = nullptr

CscPoint3d *	targetPosition = nullptr

CscPoint3d *	lastTargetPosition = nullptr

CscPoint3d *	lastLastTargetPosition = nullptr

CscPoint3d *	referenceStart = new CscPoint3d(0, 0, 0)

CscPoint3d *	referenceStartForComputeSpeed = new CscPoint3d(0.0, 0.0, 0.0)

double	lastCorrection = 0

double	maxCorrectionStep = 1

double	yaw = 0.0

double	accuracy = 0.0

double	powerLeft = 0.0

double	powerRight = 0.0

double	currentTurnSpeed = 0.0f

double	currentForwardSpeed = 0.0f

double	delta = 0

double	deltaPosition = 0

bool	backwardRequest = false

double	previousError = 0.0

double	integral = 0.0

const double	DISTANCE_FOR_ERROR_PREDICTION_IN_CM = 10.0

Protected Attributes inherited from conscience_core::sequences_processor::CscAbstractSequenceProcessingStrategy
const string	worldEntityId

CscEnvironmentSimulator *	simulator

CscSequence *	globalSequence

uint64_t	sequenceTime = 0.0L

uint64_t	sequenceManagerTimeStart = 0.0L

std::unique_ptr< CscLogger >	logger = CscLogger::getForCategory("CscSequenceProcessingStrategy")

bool	paused = false

Detailed Description

information for enslavement at https://intranet.conscience.live/utilisation-de-lasservissement-du-sequence-processor-pour-la-navigation

Constructor & Destructor Documentation

◆ CscSequencePositionStrategy()

conscience_core::sequences_processor::CscSequencePositionStrategy::CscSequencePositionStrategy	(	CscSequence *	globalSequence,
		const string &	worldEntityId,
		CscEnvironmentSimulator *	simulator
	)

◆ ~CscSequencePositionStrategy()

conscience_core::sequences_processor::CscSequencePositionStrategy::~CscSequencePositionStrategy ( )

override

Member Function Documentation

◆ breakSequence()

void conscience_core::sequences_processor::CscSequencePositionStrategy::breakSequence ( )

overridevirtual

Reimplemented from conscience_core::sequences_processor::CscAbstractSequenceProcessingStrategy.

◆ computeDistanceBetweenTwoPoint()

double conscience_core::sequences_processor::CscSequencePositionStrategy::computeDistanceBetweenTwoPoint	(	CscPoint3d *	firstPoint,
		CscPoint3d *	secondPoint
	)

protected

compute the distance between two position

Returns: return the distance in meters

◆ computeEnslavementError()

double conscience_core::sequences_processor::CscSequencePositionStrategy::computeEnslavementError	(	CscPoint3d *	position,
		double	heading,
		CscPoint3d *	linePoint1,
		CscPoint3d *	linePoint2
	)

protected

this method calculates the error according to the position and the orientation of the robot, as well as the point of departure and arrival. the error is in degrees

◆ computeSpeedPowerFromTwoPositionAndDelta()

void conscience_core::sequences_processor::CscSequencePositionStrategy::computeSpeedPowerFromTwoPositionAndDelta	(	CscPoint3d *	currentPosition,
		CscPoint3d *	firstPosition,
		CscPoint3d *	secondPosition,
		double	delta
	)

protected

compute power off wheel with the current position and two other position. use the enslavement parameter distanceDividerForComputeSpeed,coefficientForComputeSpeed and exponentForComputeSpeed for compute the power with the distance between the current position and the first and second position. Use the parameter degreesDeltaForSpeedTurnPercentage for lower the speed with the delta of orientation

◆ computeWheelPower()

void conscience_core::sequences_processor::CscSequencePositionStrategy::computeWheelPower ( )

protected

◆ enslavementWheelPower()

void conscience_core::sequences_processor::CscSequencePositionStrategy::enslavementWheelPower	(	double	speed,
		double	error
	)

protected

this method actualise the power left and right of wheels, she use a PID for compute correction for wheels in function of error. NOTE : information for PID / enslavement at https://intranet.conscience.live/utilisation-de-lasservissement-du-sequence-processor-pour-la-navigation

◆ entityArrivedToTarget()

bool conscience_core::sequences_processor::CscSequencePositionStrategy::entityArrivedToTarget	(	CscPoint3d *	currentPosition,
		CscPoint3d *	projectedPosition,
		CscPoint3d *	lastTarget,
		CscPoint3d *	target,
		double	distance
	)

protected

◆ entityForwardOrBackward()

void conscience_core::sequences_processor::CscSequencePositionStrategy::entityForwardOrBackward	(	double	speed,
		double	delta
	)

protected

update the power left and right wheel , and applicate a correction with the orientation delta

◆ entityTurn()

void conscience_core::sequences_processor::CscSequencePositionStrategy::entityTurn	(	double	delta,
		double	val,
		bool	backward = `false`
	)

protected

update the power left and right wheel , and applicate a correction with the orientation delta

◆ getNewStateWithWheelPower()

CscState * conscience_core::sequences_processor::CscSequencePositionStrategy::getNewStateWithWheelPower	(	double	leftPower,
		double	rightPower
	)

protected

return a state with the good value for the wheel with the power left and right give

◆ getProjectedPositionOnLine()

CscPoint3d conscience_core::sequences_processor::CscSequencePositionStrategy::getProjectedPositionOnLine	(	CscPoint3d *	position,
		CscPoint3d *	linePoint1,
		CscPoint3d *	linePoint2
	)

protected

the method returns a position projected on the line. This means the position closest to the position provided and which is on the line formed by point 1 and point 2

◆ getSequenceIndex()

int conscience_core::sequences_processor::CscSequencePositionStrategy::getSequenceIndex ( )

overridevirtual

Reimplemented from conscience_core::sequences_processor::CscAbstractSequenceProcessingStrategy.

◆ getYawInDegreesFromSimulatorPositionAndRotation()

double conscience_core::sequences_processor::CscSequencePositionStrategy::getYawInDegreesFromSimulatorPositionAndRotation ( CscPoint3dOriented * positionAndRotation )

protected

◆ isProcessed()

bool conscience_core::sequences_processor::CscSequencePositionStrategy::isProcessed ( )

overridevirtual

Reimplemented from conscience_core::sequences_processor::CscAbstractSequenceProcessingStrategy.

◆ lastProcess()

void conscience_core::sequences_processor::CscSequencePositionStrategy::lastProcess ( )

overridevirtual

Implements conscience_core::sequences_processor::CscAbstractSequenceProcessingStrategy.

◆ positionErrorOnLine()

double conscience_core::sequences_processor::CscSequencePositionStrategy::positionErrorOnLine	(	CscPoint3d *	currentPos,
		CscPoint3d *	linePoint1,
		CscPoint3d *	linePoint2
	)

protected

return the small distance between the current positon and the ligne

◆ process()

void conscience_core::sequences_processor::CscSequencePositionStrategy::process ( )

overridevirtual

Implements conscience_core::sequences_processor::CscAbstractSequenceProcessingStrategy.

◆ setReferenceStartForComputeSpeed()

void conscience_core::sequences_processor::CscSequencePositionStrategy::setReferenceStartForComputeSpeed ( CscPoint3d * position )

protected

return a state with the power on all wheels

◆ terminateSequence()

void conscience_core::sequences_processor::CscSequencePositionStrategy::terminateSequence ( )

overridevirtual

Reimplemented from conscience_core::sequences_processor::CscAbstractSequenceProcessingStrategy.

◆ updateCurrentEntityInformations()

void conscience_core::sequences_processor::CscSequencePositionStrategy::updateCurrentEntityInformations ( )

protected

◆ updateDeltaAndPositionError()

void conscience_core::sequences_processor::CscSequencePositionStrategy::updateDeltaAndPositionError ( )

protected

Member Data Documentation

◆ accuracy

double conscience_core::sequences_processor::CscSequencePositionStrategy::accuracy = 0.0

protected

◆ backwardRequest

bool conscience_core::sequences_processor::CscSequencePositionStrategy::backwardRequest = false

protected

◆ currentForwardSpeed

double conscience_core::sequences_processor::CscSequencePositionStrategy::currentForwardSpeed = 0.0f

protected

◆ currentPosition

CscPoint3d* conscience_core::sequences_processor::CscSequencePositionStrategy::currentPosition = new CscPoint3d(0, 0, 0)

protected

◆ currentTurnSpeed

double conscience_core::sequences_processor::CscSequencePositionStrategy::currentTurnSpeed = 0.0f

protected

◆ delta

double conscience_core::sequences_processor::CscSequencePositionStrategy::delta = 0

protected

◆ deltaPosition

double conscience_core::sequences_processor::CscSequencePositionStrategy::deltaPosition = 0

protected

◆ DISTANCE_FOR_ERROR_PREDICTION_IN_CM

const double conscience_core::sequences_processor::CscSequencePositionStrategy::DISTANCE_FOR_ERROR_PREDICTION_IN_CM = 10.0

protected

◆ index

int conscience_core::sequences_processor::CscSequencePositionStrategy::index = 0

protected

◆ integral

double conscience_core::sequences_processor::CscSequencePositionStrategy::integral = 0.0

protected

◆ lastCorrection

double conscience_core::sequences_processor::CscSequencePositionStrategy::lastCorrection = 0

protected

◆ lastLastTargetPosition

CscPoint3d* conscience_core::sequences_processor::CscSequencePositionStrategy::lastLastTargetPosition = nullptr

protected

◆ lastTargetPosition

CscPoint3d* conscience_core::sequences_processor::CscSequencePositionStrategy::lastTargetPosition = nullptr

protected

◆ maxCorrectionStep

double conscience_core::sequences_processor::CscSequencePositionStrategy::maxCorrectionStep = 1

protected

◆ positionForComputeSpeed

CscPoint3d* conscience_core::sequences_processor::CscSequencePositionStrategy::positionForComputeSpeed = nullptr

protected

◆ powerLeft

double conscience_core::sequences_processor::CscSequencePositionStrategy::powerLeft = 0.0

protected

◆ powerRight

double conscience_core::sequences_processor::CscSequencePositionStrategy::powerRight = 0.0

protected

◆ previousError

double conscience_core::sequences_processor::CscSequencePositionStrategy::previousError = 0.0

protected

◆ referenceStart

CscPoint3d* conscience_core::sequences_processor::CscSequencePositionStrategy::referenceStart = new CscPoint3d(0, 0, 0)

protected

◆ referenceStartForComputeSpeed

CscPoint3d* conscience_core::sequences_processor::CscSequencePositionStrategy::referenceStartForComputeSpeed = new CscPoint3d(0.0, 0.0, 0.0)

protected

◆ targetPosition

CscPoint3d* conscience_core::sequences_processor::CscSequencePositionStrategy::targetPosition = nullptr

protected

◆ yaw

double conscience_core::sequences_processor::CscSequencePositionStrategy::yaw = 0.0

protected

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

SequenceProcessor/CscSequencePositionStrategy.h
SequenceProcessor/CscSequencePositionStrategy.cpp

Conscience Core

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CscSequencePositionStrategy()

◆ ~CscSequencePositionStrategy()

Member Function Documentation

◆ breakSequence()

◆ computeDistanceBetweenTwoPoint()

◆ computeEnslavementError()

◆ computeSpeedPowerFromTwoPositionAndDelta()

◆ computeWheelPower()

◆ enslavementWheelPower()

◆ entityArrivedToTarget()

◆ entityForwardOrBackward()

◆ entityTurn()

◆ getNewStateWithWheelPower()

◆ getProjectedPositionOnLine()

◆ getSequenceIndex()

◆ getYawInDegreesFromSimulatorPositionAndRotation()

◆ isProcessed()

◆ lastProcess()

◆ positionErrorOnLine()

◆ process()

◆ setReferenceStartForComputeSpeed()

◆ terminateSequence()

◆ updateCurrentEntityInformations()

◆ updateDeltaAndPositionError()

Member Data Documentation

◆ accuracy

◆ backwardRequest

◆ currentForwardSpeed

◆ currentPosition

◆ currentTurnSpeed

◆ delta

◆ deltaPosition

◆ DISTANCE_FOR_ERROR_PREDICTION_IN_CM

◆ index

◆ integral

◆ lastCorrection

◆ lastLastTargetPosition

◆ lastTargetPosition

◆ maxCorrectionStep

◆ positionForComputeSpeed

◆ powerLeft

◆ powerRight

◆ previousError

◆ referenceStart

◆ referenceStartForComputeSpeed

◆ targetPosition

◆ yaw