Public Member Functions
	RobotController (config::sController controllerParam, config::sRobot robotParam, b2Body *terrain, double m_to_px=0)

void	addRobot (Robot *robot)

bool	checkGrabbed (Robot &robot)

void	create (config::sController controllerParam, config::sRobot robotParam, b2Body *terrain, double m_to_px=0)

void	createGripRobots (Robot &robot)

bool	createRobot (b2World *world, int delay, double posX, double posY, double angle=0)

void	destroyJoints (Robot &robot, side s)

void	drawRobots (sf::RenderWindow &window, double m_to_px)

void	findContactRobots (b2Contact *contact)

double	getDissolutionTime ()

int	getNbActiveRobots ()

int	getNbRobots (e_state s)

int	getNbRobotsBlocked ()

Robot *	getRobot (int pos_id)

Robot *	getRobotWithId (int id)

double	getStabilizationTime ()

void	invertMovingWheel (Robot &robot)

bool	isBridgeDissolved ()

bool	isBridgeStable ()

void	removeRobot ()

void	robotOut (double end_x, int id)

bool	robotPushing (Robot &r)

bool	robotStacking (Robot *r, float posX)

void	setBridgeStability (bool stable)

void	setNbRobots (int nb_robots)

void	setRobotState (Robot &robot, e_state robotState)

void	setScale (double m_to_px)

void	step (double end_x)

void	wait_delay (Robot &robot)

Public Attributes
bool	m_bridgeEntry = false

Detailed Description

Definition at line 16 of file RobotController.h.

Member Function Documentation

◆ addRobot()

void RobotController::addRobot ( Robot * robot )

Add a robot to the controller after the robot has been created. A better solution to add a robot to the simulation should be to create directly a new robot from the controller method using the createRobot method.

Parameters

robot is a pointer on a newly created robot object.

Definition at line 343 of file RobotController.cpp.

◆ checkGrabbed()

bool RobotController::checkGrabbed ( Robot & robot )

Check if the robot is grabbed by any other robot of the controller

Parameters

robot is the robot to be tested

Returns: true if the robot is grabbed, false otherwise

Definition at line 402 of file RobotController.cpp.

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◆ createGripRobots()

void RobotController::createGripRobots ( Robot & robot )

Takes the robot as parameter and create a new grip in the box2D world if the robot.isContact() is true

Parameters

robot generally from the m_robotVector of the controller Robot::m_previousGripJoint and Robot::m_currentGripJoint for contacted robots Robot::m_contact by setting it to false once the joint has been created

Definition at line 296 of file RobotController.cpp.

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◆ createRobot()

bool RobotController::createRobot	(	b2World *	world,
		int	delay,
		double	posX,
		double	posY,
		double	angle = `0`
	)

The function create a new robot object and add it to the m_robotVector

Parameters

world	pointer on the box2D world object
posX	initial x position of the robot in meters
posY	initial y position of the robot in meters
angle	initial angle of the robot in rad
delay	number of iteration before the robot is able to move for the first time

Returns: true if the robot has been created and added to m_robotVector, false otherwise

Definition at line 78 of file RobotController.cpp.

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◆ destroyJoints()

void RobotController::destroyJoints	(	Robot &	robot,
		side	s
	)

Remove from the world and destroy a given Box2D joint. This joint is one of a robot gripper

Parameters

s	is either LEFT or RIGHT Robot::m_previousGripJoint and Robot::m_currentGripJoint

Definition at line 389 of file RobotController.cpp.

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◆ drawRobots()

void RobotController::drawRobots	(	sf::RenderWindow &	window,
		double	m_to_px
	)

The function draws all the robots of the Robot controller on the SFML window

Parameters

window	is the SFML window
m_to_px	is the conversion factor from m to pixels, it is generally obtained via the terrain

Definition at line 119 of file RobotController.cpp.

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◆ findContactRobots()

void RobotController::findContactRobots ( b2Contact * contact )

This is the function used in the contactListener. It determines if a contact must lead to a grip creation, call the Robot::gripSide(b2Contact* contact, b2Body* otherBody, double m_to_px) when a grip has to be created

Parameters

contact is the Box2D contact object Robot::m_state for contacted robots Robot::m_leftGripJointDef or Robot::m_rightGripJointDef for future gripping robots Robot::m_contact for future gripping robots

Definition at line 128 of file RobotController.cpp.

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◆ getDissolutionTime()

double RobotController::getDissolutionTime ( )

Get the time required to obtain the dissolution of the bridge. The dissolution is reached when no more robots are in the bridge state

Returns: the simulated time to reach the dissolution

Definition at line 432 of file RobotController.cpp.

◆ getNbActiveRobots()

int RobotController::getNbActiveRobots ( )

Get the number of active robots of the robotController. ie the number of robots in the world window

Returns: the number of active robots

Definition at line 552 of file RobotController.cpp.

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◆ getNbRobots()

int RobotController::getNbRobots ( e_state s )

Get the number of robots of the robotController under a certain state

Parameters

s	is the considered state, can be either BRIDGE or WALK

Returns: the number of robot in this given state

Definition at line 542 of file RobotController.cpp.

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◆ getNbRobotsBlocked()

int RobotController::getNbRobotsBlocked ( )

Get the number of robot still active at the end of the simulation

Returns: the number of robots still active at the time of the function call.

Definition at line 556 of file RobotController.cpp.

◆ getRobot()

Robot * RobotController::getRobot ( int pos_id )

Parameters

pos_id the robot position in the m_robotVector Robot vector containing all the robots belonging to the RobotController. The pos_id starts at 0 Be careful pos_id does not necessarily match the robot id

Returns: a pointer on the robot object

Definition at line 98 of file RobotController.cpp.

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◆ getRobotWithId()

Robot * RobotController::getRobotWithId ( int id )

Parameters

id	is the robot unique id Be careful, it does not necessarily match the robot position within the robots' vector. @ return a pointer on the robot object

Definition at line 110 of file RobotController.cpp.

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◆ getStabilizationTime()

double RobotController::getStabilizationTime ( )

Get the time required to obtain a stable bridge. A stable bridge is reached when the stability condition is reached. This condition is expressed as a duration defined by m_controllerParam.stability_condition during which no more robots enter the bridge state. This duration can be changed in the main file or as a parameter in the simulation launch.

Returns: the simulated time to reach stability

Definition at line 428 of file RobotController.cpp.

◆ invertMovingWheel()

void RobotController::invertMovingWheel ( Robot & robot )

Invert the moving side of the robot

Parameters

robot is the Robot object Robot::m_movingSide: become LEFT if it was RIGHT and vice versa

Definition at line 379 of file RobotController.cpp.

◆ isBridgeDissolved()

bool RobotController::isBridgeDissolved ( )

Check if the bridge has been dissolved. We consider that the dissolution is reached if only one robot remains in the simulation.

Returns: true if the dissolution of the bridge is obtained, false otherwise

Definition at line 420 of file RobotController.cpp.

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◆ isBridgeStable()

bool RobotController::isBridgeStable ( )

Check if a stable bridge has been obtained. To do so, we compare the time the last robot entered the bridge with the stability condition. The time the last robot has been obtained is stocked inside m_stableTime. m_stableTime is updated everytime a robot enter the bridge state via a call of the function setRobotState(Robot& robot, e_state robotState);

Returns: true if a stable bridge is obtained, false otherwise

Definition at line 411 of file RobotController.cpp.

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◆ removeRobot()

void RobotController::removeRobot ( )

Remove robots from the controller and call its destructor. The robots that are destroyed using this method are the ones whose id has been copied inside the m_robotToDestroy vector. at the end all the robots whose id is in the m_robotToDestroy vector are destroyed and this vector is emptied

Definition at line 347 of file RobotController.cpp.

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◆ robotOut()

void RobotController::robotOut	(	double	end_x,
		int	id
	)

Check if a robot with a given unique id is outside the world. If it is the robot id is copied into the m_robotToDestroy vector to be destroyed at the next call of the removeRobot() method

Parameters

end_x	corresponds to the end of the world
id	is the unique id of the robot, can be obtained with robot.getID()

Definition at line 371 of file RobotController.cpp.

◆ robotPushing()

bool RobotController::robotPushing ( Robot & r )

Determine if a robot is pushing after the pushing delay has been reached by determining if the robot is touching another object. This contact has to be on the moving side. This is checked by calling the function Robot::contactOnGripSide(b2Contact* contact). In addition, the robot must have run a higher angle than m_angle_min to avoid gripping the exact previous position

Parameters

r	is the Robot to be checked when its delay corresponds to the pushing_delay, if no direct joint has been created Robot::m_delay, Robot::m_contact, Robot::m_leftGripJointDef, Robot::m_rightGripJointDef

Returns: true if the robot is pushing, false otherwise

Definition at line 494 of file RobotController.cpp.

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◆ robotStacking()

bool RobotController::robotStacking	(	Robot *	r,
		float	posX
	)

This function is used to help determine if the robots are stacking. It is called when a new robot will be created to check if the previous robot is too close to the new robot. The previous robot is too close when it is located before the given position posX + one bodyLength unit.

Parameters

r	is the Robot to be checked
posX	is the superior limit of the position one wants to check

Returns: true if the robot is located before posX, false otherwise

Definition at line 532 of file RobotController.cpp.

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◆ setBridgeStability()

void RobotController::setBridgeStability ( bool stable )

Change the bridge stability flag value.

Parameters

stable is either true if the stability has been reached or false m_isStable

Definition at line 539 of file RobotController.cpp.

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◆ setNbRobots()

void RobotController::setNbRobots ( int nb_robots )

Set the maximum number of robots that can be active at the same time in the simulation window. It is used to limit the size of the m_robotVector.

Parameters

nb_robots is the maximum number of robot that can be existing at the same time.

Definition at line 69 of file RobotController.cpp.

◆ setRobotState()

void RobotController::setRobotState	(	Robot &	robot,
		e_state	robotState
	)

Function used to set the state of a specific robot

Parameters

robot	is the Robot object
robotState	can be either WALK or BRIDGE Robot::m_moving, Robot::m_state, Robot::m_contact and Robot::m_delay

Definition at line 230 of file RobotController.cpp.

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◆ setScale()

void RobotController::setScale ( double m_to_px )

Set the scale to do the conversion from real dimensions (m) to simulated ones (pixels). Ususlly the scale is obtained from the terrain with the Terrain::getScale() method.

Parameters

m_to_px is the conversion factor from meters to pixels

Definition at line 74 of file RobotController.cpp.

◆ step()

void RobotController::step ( double end_x )

Run a step of the simulation.

Parameters

end_x is the position of the end of the simulation world it generally correspond to the end of the window. above this position the robot is destroyed.

Definition at line 436 of file RobotController.cpp.

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◆ wait_delay()

void RobotController::wait_delay ( Robot & robot )

Handle the waiting delay of the robots by decreasing it at each world step. When the delay is null, the robot.m_ready state is set to true

Parameters

robot generally from the m_robotVector of the controller Robot::m_ready is set to true when Robot::m_delay is null Robot::m_delay is decreased otherwise

Definition at line 328 of file RobotController.cpp.

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Member Data Documentation

◆ m_bridgeEntry

bool RobotController::m_bridgeEntry = false

Flag used to notify when a new robot enter the bridge state. It is used to write a new entry in the bridge file. It is set to false once the bridge file have been updated (in the demo.cpp file).

Definition at line 243 of file RobotController.h.

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

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ addRobot()

◆ checkGrabbed()

◆ createGripRobots()

◆ createRobot()

◆ destroyJoints()

◆ drawRobots()

◆ findContactRobots()

◆ getDissolutionTime()

◆ getNbActiveRobots()

◆ getNbRobots()

◆ getNbRobotsBlocked()

◆ getRobot()

◆ getRobotWithId()

◆ getStabilizationTime()

◆ invertMovingWheel()

◆ isBridgeDissolved()

◆ isBridgeStable()

◆ removeRobot()

◆ robotOut()

◆ robotPushing()

◆ robotStacking()

◆ setBridgeStability()

◆ setNbRobots()

◆ setRobotState()

◆ setScale()

◆ step()

◆ wait_delay()

Member Data Documentation

◆ m_bridgeEntry