ArServerModeGoto Class Reference

#include <ArServerClasses.h>

List of all members.

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Detailed Description

Handles going to a goal or point.

It sets the server Status and Mode strings when active.

This class adds the following data requests to the server:

gotoGoal

Sends the robot to the goal with the given name.

gotoPose

Sends the robot to the given pose. Parameters are 2 4-byte integers for X and Y, and an optional 4-byte integer for heading.

home

Sends the robot to a home point from the map, or 0,0,0 if none.

goalName

Requests a reply packet containing the name of the current goal

tourGoals

Sends the robot to each goal in the map in turn.

getGoals

Requests a reply packet containing the names of all goals in the map (separated by null byte)

Examples:

justPathPlanning.cpp.

Public Member Functions
void	tourGoals (void)
	Enter a "tour goals" mode, in which the robot is sent to each goal in the map in turn.
void	tourGoalsInList (std::deque< std::string > goalList)
	Enter a "tour goals" mode, in which the robot is sent to each goal in the given list in turn.
void	addTourGoalsInListSimpleCommand (ArServerHandlerCommands *commandsServer)
	Add a "tour" command to the given "simple commands" object.
Protected Member Functions
void	reset (void)
	Reset state.
void	goalDone (ArPose pose)
	Callback from ARNL when a goal is reached.
void	goalFailed (ArPose pose)
	Callback from ARNL when a goal fails.
void	findNextTourGoal (void)
	Set myGoalName to the name of the next goal in the tour.
size_t	numGoalsTouring ()
	Returns: number of goals in current tour, or 0 if none
void	planToNextTourGoal ()
	Keep trying to plan paths to goals in a tour, until either a plan succeeds or all the goals fail.
void	tourGoalsInListCommand (ArArgumentBuilder *args)
	Used as callback from ArServerHandlerCommands (simple/custom commands).
Protected Attributes
std::deque< std::string >	myTouringGoalsList

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Member Function Documentation

void ArServerModeGoto::tourGoals

(

void

)

Enter a "tour goals" mode, in which the robot is sent to each goal in the map in turn.

This mode can be entered using the tourGoals networking request.

void ArServerModeGoto::tourGoalsInList

(

std::deque< std::string >

goalList

)

Enter a "tour goals" mode, in which the robot is sent to each goal in the given list in turn.

void ArServerModeGoto::addTourGoalsInListSimpleCommand

(

ArServerHandlerCommands *

commandsServer

)

Add a "tour" command to the given "simple commands" object.

This simple (custom) command accepts a comma-separated list of goals, builds a list of goals, expanding items ending in a wildcard (*) to maching goals, and omitting invalid goals, and then calls tourGoalsInList().

Examples:

justPathPlanning.cpp.

void ArServerModeGoto::goalDone

(

ArPose

pose

)

[protected]

Callback from ARNL when a goal is reached.

Set myStatus and other state. If touring, plan the next goal in the tour.

void ArServerModeGoto::goalFailed

(

ArPose

pose

)

[protected]

Callback from ARNL when a goal fails.

Set myStatus and other state. If touring, plan the next goal in the tour.

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Member Data Documentation

std::deque<std::string> ArServerModeGoto::myTouringGoalsList [protected]

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