conscience_core::ai Namespace Reference

Namespaces
	alerts
	algorithms
	data
	entity_events
	multi_entity
	nn
	notifications

Classes
struct	CaptureDetectFocusLoopConfiguration
class	CscEntityAlertIdentificationService
class	CscEntityAlertIdentificationState
class	CscEntityClient
class	CscEntityClientReal
class	CscEntityClientSimulated
class	CscEntityDetectionState
struct	CscEntityIdentity
struct	CscEntityProcessCommandOptions
class	CscEntityReflexion
struct	CscEntityReflexionActivity
class	CscEntityReflexionDetectionParameters
class	CscEntityReflexionParameters
class	CscEntityReflexions
class	CscEntityReflexionStartedEvent
class	CscEntityReflexionStoppedEvent
class	CscMoveForwardInGroupTarget
class	CscMoveForwardInGroupTargetEntity
class	CscMoveForwardInGroupTargetObject
class	CscMrptAutonomousExploration
class	CscSimulationWorld
struct	EntitySensorValues
struct	FocusParameter
struct	HumanDecision
struct	IkFocusParam
struct	LiveEnvironmentDetectedObject
struct	MrptGrid
struct	NodeHash
class	TrackedObject
struct	TrackHit
struct	VisionDetectionTargetObjectOffset

Typedefs
typedef function< void(bool accept)>	Answer
typedef function< void(vector< ptr< const LiveEnvironmentDetectedObject >> detectedObjects)>	LiveEnvironmentUpdateListener
typedef function< void(CscSequence *sequence)>	SequenceProcessorSendSequenceListener
typedef uint64_t	CscEntityStatusFlags

Enumerations
enum	CscDetectionStatsType { MotorizedVehicleCount, UnmotorizedVehicleCount, PersonCount }
enum	FocusType { INVERSE_KINEMATIC = 0, PAN_TILT = 1 }
enum	CscEntityStatusFlagsList : CscEntityStatusFlags {   NONE = 0, READY = 1ULL << 0, CONSCIENCE_START = 1ULL << 1, WAITING_CLIENT_CONNECTION = 1ULL << 2,   POSITION_ACCURACY_TOO_LARGE = 1ULL << 3, RECEIVE_MESSAGE = 1ULL << 4, SEND_MESSAGE_CHUNKED = 1ULL << 5, PROCESS_COMMAND = 1ULL << 6,   SEND_TCP_MESSAGE = 1ULL << 7, RECIEVE_ENGINE_RESPONSE = 1ULL << 8, CHECKING_UPGRADE = 1ULL << 9, UPGRADE_IN_PROGRESS = 1ULL << 10,   OBSTACLE_IN_RANGE = 1ULL << 11, POSITION_MANAGER_NOT_READY = 1ULL << 12, SEQUENCE_PROCESSOR_SEQUENCE_IN_PROGRESS = 1ULL << 13, SEQUENCE_PROCESSOR_SEQUENCE_IN_PAUSE = 1ULL << 14,   SEQUENCE_PROCESSOR_SEQUENCE_UPLOADING = 1ULL << 15, SEQUENCE_PROCESSOR_SEQUENCE_TERMINATE = 1ULL << 16, ENTITY_BLOCKED_GYRO = 1ULL << 17, ENTITY_BLOCKED_GPS = 1ULL << 18,   ENTITY_DISTANT_REALITY_MOVE = 1ULL << 19, ENTITY_BLOCKED_OBSTACLES = 1ULL << 20, ENTITY_EXPLORATION_RESTORE_MOVE = 1ULL << 61, ENTITY_EXPLORATION_NO_FRONTIERS = 1ULL << 62 }
enum	PickFrontierMode { PickFrontierMode_Closest, PickFrontierMode_Furthest }

Functions
float	shortDistance (CscVector line_point1, CscVector line_point2, CscVector point)
float	getShortDistance (map< CscInputType, float > inputsIn, map< CscInputType, float > inputsTargetValuesMember)
void	doRemoveDecision (map< string, ptr< HumanDecision >> &ongoingDecisions, const string &decisionUid)
void	exportMapToText (const mrpt::maps::COccupancyGridMap2D *map, const std::string &filename="slam_map.txt")
MrptGrid	fromMap (const COccupancyGridMap2D &m)
bool	xy2ij (const MrptGrid &g, double x, double y, int &i, int &j)
void	ij2xy (const MrptGrid &g, int i, int j, double &x, double &y)
double	normAng (double a)
fs::path	generateOutPath (const std::string &filenameSuffix, const string &ext)
static pair< size_t, TPoint2D >	pickFrontier (const std::vector< TPoint2D > &fs, const TPose2D &robotPose)
static void	eraseFrontier (std::vector< TPoint2D > &fs, const TPoint2D &f)
static void	eraseFrontier (std::vector< TPoint2D > &fs, size_t idx)
void	clusterFrontiers (std::vector< TPoint2D > &frontiers, double maxDist)
void	filterCloseFrontiers (std::vector< TPoint2D > &frontiers, const TPose2D &pose, double minDist)
string	gridToJson (const Grid &grid)
vector< TPose2D >	planHybridAStar (const TPose2D &robotPose, const TPoint2D &targetPose, const COccupancyGridMap2D &map, CscSlamEngine *slamEngine, const CscPoint2d &robotDimensions)
bool	compByUsage (CscObjectiveAi *a, CscObjectiveAi *b)

Variables
static int	entityIdentityInstanceNumber = 0
struct CSC_DLL_IMPORTEXPORT	TrackHit
static const vector< CscEntityStatusFlagsList >	ENTITY_STATUSES_BLOCKED = {CscEntityStatusFlagsList::ENTITY_BLOCKED_GYRO, CscEntityStatusFlagsList::ENTITY_BLOCKED_GPS, CscEntityStatusFlagsList::ENTITY_BLOCKED_OBSTACLES}
unique_ptr< CscLogger >	logger = CscLogger::getForCategory("CscMrptAutonomousExploration")
const double	maxLinearSpeed = 0.4
const double	maxAngularSpeed = 0.8
const double	obstacleClearance = 0.05
const double	occThreshold = 0.22
const size_t	minFrontierSize = 3
const double	replanCooldownSeconds = 8
const size_t	noFrontiersStopThreshold = 40
const double	restoreExplorationMoveFactor = .35
constexpr int	pathFindingMarginCells = 0
constexpr bool	savePathFindingDebugFilesEnabled = false
constexpr bool	saveExplorationDebugFilesEnabled = false
constexpr PickFrontierMode	pickFrontierMode = PickFrontierMode_Closest
unsigned long long	last = 0

Typedef Documentation

Answer

typedef function<void(bool accept)> conscience_core::ai::Answer

CscEntityStatusFlags

typedef uint64_t conscience_core::ai::CscEntityStatusFlags

LiveEnvironmentUpdateListener

typedef function<void(vector<ptr<const LiveEnvironmentDetectedObject>> detectedObjects)> conscience_core::ai::LiveEnvironmentUpdateListener

SequenceProcessorSendSequenceListener

typedef function<void(CscSequence *sequence)> conscience_core::ai::SequenceProcessorSendSequenceListener

Enumeration Type Documentation

CscDetectionStatsType

enum conscience_core::ai::CscDetectionStatsType

Enumerator
MotorizedVehicleCount
UnmotorizedVehicleCount
PersonCount

CscEntityStatusFlagsList

enum conscience_core::ai::CscEntityStatusFlagsList : CscEntityStatusFlags

Enumerator
NONE
READY	Conscience FW is Ready
CONSCIENCE_START	Conscience FW starting
WAITING_CLIENT_CONNECTION	No Client connected
POSITION_ACCURACY_TOO_LARGE	the accuracy exceeds the allowed accuracy
RECEIVE_MESSAGE	receive large command
SEND_MESSAGE_CHUNKED	sending UDP chunked message
PROCESS_COMMAND	processing command
SEND_TCP_MESSAGE	sending TCP message
RECIEVE_ENGINE_RESPONSE	receive engine response
CHECKING_UPGRADE	Entity Check if can upgrade
UPGRADE_IN_PROGRESS	FW Entity Upgrading
OBSTACLE_IN_RANGE	Obstacle too close of the entity
POSITION_MANAGER_NOT_READY	position manager isn't ready
SEQUENCE_PROCESSOR_SEQUENCE_IN_PROGRESS	indicate if the entity is processing a sequence
SEQUENCE_PROCESSOR_SEQUENCE_IN_PAUSE	indicate if the entity is in pause in its sequence
SEQUENCE_PROCESSOR_SEQUENCE_UPLOADING	indicate upload of sequence
SEQUENCE_PROCESSOR_SEQUENCE_TERMINATE	indicate if the entity has finished its sequence
ENTITY_BLOCKED_GYRO	If the entity is too tilted it should stop (to prevent a fall or heating engines)
ENTITY_BLOCKED_GPS	If the entity keeps being on the same place despite the wheels moving it should stop (prevent overheating)
ENTITY_DISTANT_REALITY_MOVE	If Entity move with Distant Reality
ENTITY_BLOCKED_OBSTACLES	If the entity too close
ENTITY_EXPLORATION_RESTORE_MOVE
ENTITY_EXPLORATION_NO_FRONTIERS

FocusType

enum conscience_core::ai::FocusType

Enumerator
INVERSE_KINEMATIC
PAN_TILT

PickFrontierMode

enum conscience_core::ai::PickFrontierMode

Enumerator
PickFrontierMode_Closest
PickFrontierMode_Furthest

Function Documentation

clusterFrontiers()

void conscience_core::ai::clusterFrontiers	(	std::vector< TPoint2D > &	frontiers,
		double	maxDist
	)

compByUsage()

bool conscience_core::ai::compByUsage	(	CscObjectiveAi *	a,
		CscObjectiveAi *	b
	)

doRemoveDecision()

void conscience_core::ai::doRemoveDecision	(	map< string, ptr< HumanDecision >> &	ongoingDecisions,
		const string &	decisionUid
	)

eraseFrontier() [1/2]

static void conscience_core::ai::eraseFrontier ( std::vector< TPoint2D > &  fs, const TPoint2D &  f  )

static

eraseFrontier() [2/2]

static void conscience_core::ai::eraseFrontier ( std::vector< TPoint2D > &  fs, size_t  idx  )

static

exportMapToText()

void conscience_core::ai::exportMapToText	(	const mrpt::maps::COccupancyGridMap2D *	map,
		const std::string &	filename = "slam_map.txt"
	)

filterCloseFrontiers()

void conscience_core::ai::filterCloseFrontiers	(	std::vector< TPoint2D > &	frontiers,
		const TPose2D &	pose,
		double	minDist
	)

fromMap()

MrptGrid conscience_core::ai::fromMap ( const COccupancyGridMap2D &  m )

inline

generateOutPath()

fs::path conscience_core::ai::generateOutPath ( const std::string &  filenameSuffix, const string &  ext  )

inline

getShortDistance()

float conscience_core::ai::getShortDistance	(	map< CscInputType, float >	inputsIn,
		map< CscInputType, float >	inputsTargetValuesMember
	)

gridToJson()

string conscience_core::ai::gridToJson

(

const Grid &

grid

)

ij2xy()

void conscience_core::ai::ij2xy ( const MrptGrid &  g, int  i, int  j, double &  x, double &  y  )

inline

normAng()

double conscience_core::ai::normAng ( double  a )

inline

pickFrontier()

static pair<size_t, TPoint2D> conscience_core::ai::pickFrontier ( const std::vector< TPoint2D > &  fs, const TPose2D &  robotPose  )

static

planHybridAStar()

vector<TPose2D> conscience_core::ai::planHybridAStar	(	const TPose2D &	robotPose,
		const TPoint2D &	targetPose,
		const COccupancyGridMap2D &	map,
		CscSlamEngine *	slamEngine,
		const CscPoint2d &	robotDimensions
	)

shortDistance()

float conscience_core::ai::shortDistance	(	CscVector	line_point1,
		CscVector	line_point2,
		CscVector	point
	)

xy2ij()

bool conscience_core::ai::xy2ij ( const MrptGrid &  g, double  x, double  y, int &  i, int &  j  )

inline

Variable Documentation

ENTITY_STATUSES_BLOCKED

const vector<CscEntityStatusFlagsList> conscience_core::ai::ENTITY_STATUSES_BLOCKED = {CscEntityStatusFlagsList::ENTITY_BLOCKED_GYRO, CscEntityStatusFlagsList::ENTITY_BLOCKED_GPS, CscEntityStatusFlagsList::ENTITY_BLOCKED_OBSTACLES}

static

entityIdentityInstanceNumber

int conscience_core::ai::entityIdentityInstanceNumber = 0

static

last

unsigned long long conscience_core::ai::last = 0

logger

unique_ptr<CscLogger> conscience_core::ai::logger = CscLogger::getForCategory("CscMrptAutonomousExploration")

maxAngularSpeed

const double conscience_core::ai::maxAngularSpeed = 0.8

maxLinearSpeed

const double conscience_core::ai::maxLinearSpeed = 0.4

minFrontierSize

const size_t conscience_core::ai::minFrontierSize = 3

noFrontiersStopThreshold

const size_t conscience_core::ai::noFrontiersStopThreshold = 40

obstacleClearance

const double conscience_core::ai::obstacleClearance = 0.05

occThreshold

const double conscience_core::ai::occThreshold = 0.22

pathFindingMarginCells

constexpr int conscience_core::ai::pathFindingMarginCells = 0

constexpr

pickFrontierMode

constexpr PickFrontierMode conscience_core::ai::pickFrontierMode = PickFrontierMode_Closest

constexpr

replanCooldownSeconds

const double conscience_core::ai::replanCooldownSeconds = 8

restoreExplorationMoveFactor

const double conscience_core::ai::restoreExplorationMoveFactor = .35

saveExplorationDebugFilesEnabled

constexpr bool conscience_core::ai::saveExplorationDebugFilesEnabled = false

constexpr

savePathFindingDebugFilesEnabled

constexpr bool conscience_core::ai::savePathFindingDebugFilesEnabled = false

constexpr

TrackHit

struct CSC_DLL_IMPORTEXPORT conscience_core::ai::TrackHit