A Model plugin that is the base class for all agent plugins in a swarm. More...

#include <RobotPlugin.hh>

Inheritance diagram for swarm::RobotPlugin:

Public Types
enum	VehicleType { GROUND = 0, ROTOR = 1, FIXED_WING = 2 }
	The type of vehicle. More...

Public Member Functions
	RobotPlugin ()
	Class constructor. More...

virtual	~RobotPlugin ()
	Class destructor. More...

Protected Member Functions
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
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
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...

Detailed Description

A Model plugin that is the base class for all agent plugins in a swarm.

This plugin exposes the following functionality to the derived plugins:

Configuration.
- Load() This method will allow the agent to read SDF parameters from the model.
Communication.
- Bind() This method binds an address to a virtual socket, and sends incoming messages to the specified callback.
- SendTo() This method allows an agent to send data to other individual agent (unicast), all the agents (broadcast), or a group of agents (multicast).
- Host() This method will return the agent's address.
- Neighbors() This method returns the addresses of other vehicles that are inside the communication range of this robot.

Motion.

Type() This method returns the type of vehicle where this controller is running.
SetLinearVelocity() New linear velocity applied to the robot.
SetAngularVelocity() New angular velocity applied to the robot.

Sensors.

Pose() Get the robot's current pose from its GPS sensor.
SearchArea() Get the search area, in GPS coordinates.
Image() Get the list of detected objects, and other related information, from the camera sensor.
CameraToWorld() Convert a pose in a robot's camera frame into the world frame.
Imu() Get the robot's linear and angular velocities and position relative to a reference position (starting pose).
Bearing() Get the angle between the true North and the robot.

Introspection.

Type() Get the vehicle type.
Name() Get the name of the vehicle.
SearchArea() Get the GPS coordinates of the search area.
BatteryStartCapacity() Starting battery capacity (mAh).
BatteryCapacity() Current battery capacity (mAh).
BatteryConsumption() Battery consumption (mA).
BatteryConsumptionFactor() Factor applied to battery consumption to account for additional loss.
ExpectedBatteryLife() Battery life in seconds, based on the current capacity and consumption.

Member Enumeration Documentation

enum swarm::RobotPlugin::VehicleType

The type of vehicle.

Enumerator
GROUND	A ground vehicle.
ROTOR	A rotorcraft aerial vehicle.
FIXED_WING	A fixed wing aerial vehicle.

Constructor & Destructor Documentation

swarm::RobotPlugin::RobotPlugin ( )

Class constructor.

virtual swarm::RobotPlugin::~RobotPlugin ( )

virtual

Class destructor.

Member Function Documentation

double swarm::RobotPlugin::BatteryCapacity ( ) const

protected

Get the current battery capacity (mAh).

Returns: The battery capacity in mAh.

double swarm::RobotPlugin::BatteryConsumption ( ) const

protected

Get the vehicle's battery consumption (mA).

Returns: The battery consumption in mA.

double swarm::RobotPlugin::BatteryConsumptionFactor ( ) const

protected

Get the vehicle's battery consumption factor (unitless).

Returns: Get the factor applied to battery consumption. This value will be between 0 and 1, where a value < 1 accounts for additional current draw.

double swarm::RobotPlugin::BatteryStartCapacity ( ) const

protected

Get starting battery capacity (mAh).

Returns: The battery's start capacity in mAh.

bool swarm::RobotPlugin::Bearing ( ignition::math::Angle & _bearing ) const

protected

Angle between the true North and the robot.

If the vehicle is facing North the bearing is 0. The bearing increments clockwise up to 2*PI radians. For example, a vehicle facing East would have a bearing of PI/2 radians. Note that in Gazebo the North is aligned with the +Y axis.

Parameters

[out] _bearing Bearing between the true North and the robot.

Returns: True if the call was successful.

template<typename C >

bool swarm::RobotPlugin::Bind	(	void(C::*)(const std::string &_srcAddress, const std::string &_dstAddress, const uint32_t _dstPort, const std::string &_data)	_cb,
		C *	_obj,
		const std::string &	_address,
		const int	_port = `kDefaultPort`
	)

inlineprotected

This method can bind a local address and a port to a virtual socket.

This is a required step if your agent needs to receive messages.

Parameters

[in]	_address	Local address or "kMulticast". If you specify your local address, you will receive all the messages sent where the destination is <YOUR_LOCAL_ADDRESS, port> or <"kBroadcast", port>. On the other hand, if you specify "kMulticast" as the _address parameter, you will be subscribed to the multicast group <"kMulticast, port>". You will receive all the messages sent from any node to this multicast group.
[in]	_cb	Callback function to be executed when a new message is received associated to the specified <_address, port>. In the callback, "_srcAddress" contains the address of the sender of the message. "_dstAddress" contains the destination address. "_dstPort" contains the destination port. "_data" contains the payload.
[in]	_obj	Instance containing the member function callback.
[in]	_port	Port used to receive messages.

Returns: True when success or false otherwise.

Example usage (bind on the local address and default port): this->Bind(&MyClass::OnDataReceived, this, this->Host());
Example usage (Bind on the multicast group and custom port.): this->Bind(&MyClass::OnDataReceived, this, this->kMulticast, 5123);

ignition::math::Pose3d swarm::RobotPlugin::CameraToWorld ( const ignition::math::Pose3d & _poseinCamera ) const

protected

Convert a pose in a robot's camera frame into the world frame.

Parameters

[in] _poseinCamera The pose in the camera frame

Returns: The pose in the world frame.

double swarm::RobotPlugin::ExpectedBatteryLife ( ) const

protected

Get the expected battery life in seconds.

Returns: Battery life in seconds, based on the current capacity and consumption.

std::string swarm::RobotPlugin::Host ( ) const

protected

Get your local address.

This address should be specified as a SDF model parameter.

Returns: The local address.

bool swarm::RobotPlugin::Image ( ImageData & _img ) const

protected

Get the set of objects detected by the camera.

Parameters

[out] _img Image object that will hold the output from the camera. Note that each object's pose is in the robot's camera frame. Use CameraToWorld() for making a conversion to world coordinates.

Returns: True if the call was successful.

See also: CameraToWorld

bool swarm::RobotPlugin::Imu	(	ignition::math::Vector3d &	_linVel,
		ignition::math::Vector3d &	_angVel,
		ignition::math::Quaterniond &	_orient
	)		const

protected

Get the robot's IMU information.

The linear velocity is set in the robot's local coordinate frame, where

x = forward/back velocity,
y = left/right velociy,
z = up/down velocity.

The angular velocity is set in the robot's local coordinate frame, where

x = Velocity about x-axis (roll),
y = Velocity about y-axis (pitch),
z = Velocity about z-axis (yaw).

The orientation is set relative to the reference pose with a range from PI to -PI. The reference pose was initialized when the robot was spawned

x = Offset with respect the reference pos about x-axis (roll),
y = Offset with respect the reference pos about y-axis (pitch),
z = Offset with respect the reference pos about z-axis (yaw).

Parameters

[out]	_linVel	Linear velocity in the robot's local coordinate frame (m/s).
[out]	_angVel	Angular velocity in the robot's local coordinate frame (m/s).
[out]	_orient	Offset with respect the reference pos.

virtual void swarm::RobotPlugin::Load ( sdf::ElementPtr _sdf )

protectedvirtual

This method is called after the world has been loaded and gives child plugins access to the SDF model file.

Parameters

[in] _sdf Pointer to the SDF element of the model.

std::string swarm::RobotPlugin::Name ( ) const

protected

Get the name of this robot.

Returns: The name given to this robot in the SDF file.

std::vector<std::string> swarm::RobotPlugin::Neighbors ( ) const

protected

Get the list of local neighbors.

Returns: A vector of addresses from your local neighbors.

bool swarm::RobotPlugin::Pose	(	double &	_latitude,
		double &	_longitude,
		double &	_altitude
	)		const

protected

Get the robot's current pose from its GPS sensor.

Parameters

[out]	_latitude	Robot latitude will be written here.
[out]	_longitude	Robot longitude will be written here.
[out]	_altitude	Robot altitude will be written here.

Returns: True if the call was successful.

void swarm::RobotPlugin::SearchArea	(	double &	_minLatitude,
		double &	_maxLatitude,
		double &	_minLongitude,
		double &	_maxLongitude
	)

protected

Get the search area, in GPS coordinates.

Parameters

[out]	_minLatitude	Minimum latitude will be written here.
[out]	_maxLatitude	Maximum latitude will be written here.
[out]	_minLongitude	Minimum longitude will be written here.
[out]	_maxLongitude	Maximum longitude will be written here.

bool swarm::RobotPlugin::SendTo	(	const std::string &	_data,
		const std::string &	_dstAddress,
		const uint32_t	_port = `kDefaultPort`
	)

protected

Send some data to other/s member/s of the swarm.

Parameters

[in]	_dstAddress	Destination address. Note that the destination address might be a unicast address, "kBroadcast" or "kMulticast". In the case of broadcast and multicast communications your node will receive your own message if you're bind to your local or the multicast address.
[in]	_port	Destination port.
[in]	_data	Payload.

Returns: True when success or false if the underlying library used for sending messages notifies an error (meaning that the message was not sent).

bool swarm::RobotPlugin::SetAngularVelocity ( const ignition::math::Vector3d & _velocity )

protected

Set the robot's angular velocity, using Euler angles.

The velocity is applied in the robot's local coordinate frame, where

x = rotate about x-axis (roll),
y = rotate about y-axis (pitch),
z = rotate about z-axis (yaw).

This velocity will be constrained by the type of robot. For example, a ground vehicle will ignore the x and y components of the _velocity vector, but a quadcopter will use all three.

Parameters

[in] _velocity Velocity about the robot's local XYZ axes (radian/s).

Returns: True if the command was successful. False if the angular velocity could not be set, such as due to low battery.

bool swarm::RobotPlugin::SetAngularVelocity	(	const double	_x,
		const double	_y,
		const double	_z
	)

protected

Set the robot's angular velocity, using Euler angles.

The velocity is applied in the robot's local coordinate frame, where

x = rotate about x-axis (roll),
y = rotate about y-axis (pitch),
z = rotate about z-axis (yaw).

This velocity will be constrained by the type of robot. For example, a ground vehicle will ignore the x and y components of the _velocity vector, but a quadcopter will use all three.

Parameters

[in]	_x	Velocity about the robot's local X axis (radian/s).
[in]	_y	Velocity about the robot's local Y axis (radian/s).
[in]	_z	Velocity about the robot's local Z axis (radian/s).

Returns: True if the command was successful. False if the angular velocity could not be set, such as due to low battery.

bool swarm::RobotPlugin::SetLinearVelocity ( const ignition::math::Vector3d & _velocity )

protected

Set the robot's linear velocity.

The velocity is applied in the robot's local coordinate frame, where

x = forward/back,
y = left/right,
z = up/down.

This velocity will be constrained by the type of robot. For example, a ground vehicle will ignore the y & z components of the _velocity vector, but a rotorcraft will use all three.

Parameters

[in] _velocity The velocity vector in the robot's local coordinate frame (m/s).

Returns: True if the command was successful. False if the linear velocity could not be set, such as due to low battery.

bool swarm::RobotPlugin::SetLinearVelocity	(	const double	_x,
		const double	_y,
		const double	_z
	)

protected

Set the robot's linear velocity.

The velocity is applied in the robot's local coordinate frame, where

x = forward/back,
y = left/right,
z = up/down.

This velocity will be constrained by the type of robot. For example, a ground vehicle will ignore the y & z components of the _velocity vector, but a rotorcraft will use all three.

Parameters

[in]	_x	X velocity in the robot's local coordinate frame (m/s).
[in]	_y	Y velocity in the robot's local coordinate frame (m/s).
[in]	_z	Z velocity in the robot's local coordinate frame (m/s).

Returns: True if the command was successful. False if the linear velocity could not be set, such as due to low battery.

VehicleType swarm::RobotPlugin::Type ( ) const

protected

Get the type of vehicle.

The type of vehicle is set in the SDF world file using the <type> XML element.

Returns: The enum value that specifies what type of vehicles this plugin controls.

virtual void swarm::RobotPlugin::Update ( const gazebo::common::UpdateInfo & _info )

protectedvirtual

Update the plugin.

This function is called once every iteration.

Parameters

[in] _info Update information provided by the server.

Field Documentation

const std::string swarm::RobotPlugin::kBoo = "boo"

protected

Address used by the base of operations.

const uint32_t swarm::RobotPlugin::kBooPort = 4200

staticprotected

Base of communications port.

const std::string swarm::RobotPlugin::kBroadcast = "broadcast"

protected

Address used to send a message to all the members of the swarm listening on a specific port.

const uint32_t swarm::RobotPlugin::kDefaultPort = 4100

staticprotected

Default port.

const uint32_t swarm::RobotPlugin::kMtu = 1500

staticprotected

Maximum transmission payload size (octets) for each message.

const std::string swarm::RobotPlugin::kMulticast = "multicast"

protected

Address used to bind to a multicast group.

Note that we do not support multiple multicast groups, only one.

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

RobotPlugin.hh

Swarm API

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation