Swarm API
Class that drives the behavior of the base of operations (BOO). More...
#include <BooPlugin.hh>
Public Member Functions | |
| BooPlugin () | |
| Class constructor. More... | |
| virtual | ~BooPlugin () |
| Class destructor. More... | |
 Public Member Functions inherited from swarm::RobotPlugin | |
| RobotPlugin () | |
| Class constructor. More... | |
| virtual | ~RobotPlugin () |
| Class destructor. More... | |
Additional Inherited Members | |
| Public Types inherited from swarm::RobotPlugin | |
| enum | VehicleType { GROUND = 0, ROTOR = 1, FIXED_WING = 2 } |
| The type of vehicle. More... | |
| Protected Member Functions inherited from swarm::RobotPlugin | |
| double | BatteryCapacity () const |
| Get the current battery capacity (mAh). More... | |
| double | BatteryConsumption () const |
| Get the vehicle's battery consumption (mA). More... | |
| double | BatteryConsumptionFactor () const |
| Get the vehicle's battery consumption factor (unitless). More... | |
| double | BatteryStartCapacity () const |
| Get starting battery capacity (mAh). More... | |
| bool | Bearing (ignition::math::Angle &_bearing) const |
| Angle between the true North and the robot. More... | |
| template<typename C > | |
| bool | Bind (void(C::*_cb)(const std::string &_srcAddress, const std::string &_dstAddress, const uint32_t _dstPort, const std::string &_data), C *_obj, const std::string &_address, const int _port=kDefaultPort) |
| This method can bind a local address and a port to a virtual socket. More... | |
| ignition::math::Pose3d | CameraToWorld (const ignition::math::Pose3d &_poseinCamera) const |
| Convert a pose in a robot's camera frame into the world frame. More... | |
| double | ExpectedBatteryLife () const |
| Get the expected battery life in seconds. More... | |
| std::string | Host () const |
| Get your local address. More... | |
| bool | Image (ImageData &_img) const |
| Get the set of objects detected by the camera. More... | |
| bool | Imu (ignition::math::Vector3d &_linVel, ignition::math::Vector3d &_angVel, ignition::math::Quaterniond &_orient) const |
| Get the robot's IMU information. More... | |
| virtual void | Load (sdf::ElementPtr _sdf) |
| This method is called after the world has been loaded and gives child plugins access to the SDF model file. More... | |
| std::string | Name () const |
| Get the name of this robot. More... | |
| std::vector< std::string > | Neighbors () const |
| Get the list of local neighbors. More... | |
| bool | Pose (double &_latitude, double &_longitude, double &_altitude) const |
| Get the robot's current pose from its GPS sensor. More... | |
| void | SearchArea (double &_minLatitude, double &_maxLatitude, double &_minLongitude, double &_maxLongitude) |
| Get the search area, in GPS coordinates. More... | |
| bool | SendTo (const std::string &_data, const std::string &_dstAddress, const uint32_t _port=kDefaultPort) |
| Send some data to other/s member/s of the swarm. More... | |
| bool | SetAngularVelocity (const ignition::math::Vector3d &_velocity) |
| Set the robot's angular velocity, using Euler angles. More... | |
| bool | SetAngularVelocity (const double _x, const double _y, const double _z) |
| Set the robot's angular velocity, using Euler angles. More... | |
| bool | SetLinearVelocity (const ignition::math::Vector3d &_velocity) |
| Set the robot's linear velocity. More... | |
| bool | SetLinearVelocity (const double _x, const double _y, const double _z) |
| Set the robot's linear velocity. More... | |
| VehicleType | Type () const |
| Get the type of vehicle. More... | |
| virtual void | Update (const gazebo::common::UpdateInfo &_info) |
| Update the plugin. More... | |
| Protected Attributes inherited from swarm::RobotPlugin | |
| const std::string | kBoo = "boo" |
| Address used by the base of operations. More... | |
| const std::string | kBroadcast = "broadcast" |
| Address used to send a message to all the members of the swarm listening on a specific port. More... | |
| const std::string | kMulticast = "multicast" |
| Address used to bind to a multicast group. More... | |
| Static Protected Attributes inherited from swarm::RobotPlugin | |
| static const uint32_t | kBooPort = 4200 |
| Base of communications port. More... | |
| static const uint32_t | kDefaultPort = 4100 |
| Default port. More... | |
| static const uint32_t | kMtu = 1500 |
| Maximum transmission payload size (octets) for each message. More... | |
Class that drives the behavior of the base of operations (BOO).
The BOO binds on its own address (kBoo) and port (kBooPort). It accepts messages of the format: <cmd> [args]
List of supported commands: FOUND <x> <y> <z> <t> : Person found in [x,y,z] at time t, where:
x: X coordinate (meters). y: Y coordinate (meters). z: Z coordinate (meters). t: Time when the person was seen (double).
E.g.: FOUND 100.0 50.0 1.0 10.4
The BOO also verifies that the position reported by a user match the position of the lost person. If the person is found, a message of type PersonFound is published in the topic /swarm/found and the simulation is paused.
| swarm::BooPlugin::BooPlugin | ( | ) |
Class constructor.
|
virtual |
Class destructor.