behaviour_common.h File Reference

Common definitions include file for the internal Behaviour Control Framework source code. More...

#include <cstddef>
#include <vector>
#include <string>
#include <sstream>
#include <typeinfo>
#include <boost/static_assert.hpp>
#include <boost/type_traits.hpp>
#include <boost/utility/enable_if.hpp>

Go to the source code of this file.

Classes
class	behaviourcontrol::Sensor< T >
	Implements a single sensor of a given data type. More...
class	behaviourcontrol::Actuator< T >
	Implements a single actuator of a given data type. More...

Namespaces
	behaviourcontrol
	This namespace defines everything that is required for the Behaviour Control Framework.

Macros
#define	CURRENT_FUNC   "<unknown>"
Error Macros
A collection of macros that wrap the reportError() function to make shortcuts for reporting warnings, errors and making assertions.
#define	REPORT_ERROR(MBasePtr, msg)   (MBasePtr)->reportError((msg),true,CURRENT_FUNC,__FILE__,__LINE__)
	Reports a std::string error message msg to the behaviour manager pointed to by MBasePtr (fatal = true).
#define	REPORT_ERROR_(MBase, msg)   (MBase).reportError((msg),true,CURRENT_FUNC,__FILE__,__LINE__)
	Reports a std::string error message msg to the MBase behaviour manager (fatal = true).
#define	REPORT_WARNING(MBasePtr, msg)   (MBasePtr)->reportError((msg),false,CURRENT_FUNC,__FILE__,__LINE__)
	Reports a std::string warning message msg to the behaviour manager pointed to by MBasePtr (fatal = false).
#define	REPORT_WARNING_(MBase, msg)   (MBase).reportError((msg),false,CURRENT_FUNC,__FILE__,__LINE__)
	Reports a std::string warning message msg to the MBase behaviour manager (fatal = false).
#define	ASSERT_ERROR(cond, MBasePtr, msg)   if(!(cond)) { REPORT_ERROR((MBasePtr),msg); return; }
	Reports a std::string error message msg to the behaviour manager pointed to by MBasePtr if cond evaluates to false (fatal = true).
#define	ASSERT_ERROR_(cond, MBase, msg)   if(!(cond)) { REPORT_ERROR_((MBase),msg); return; }
	Reports a std::string error message msg to the MBase behaviour manager if cond evaluates to false (fatal = true).
#define	ASSERT_WARNING(cond, MBasePtr, msg)   if(!(cond)) { REPORT_WARNING((MBasePtr),msg); return; }
	Reports a std::string warning message msg to the behaviour manager pointed to by MBasePtr if cond evaluates to false (fatal = false).
#define	ASSERT_WARNING_(cond, MBase, msg)   if(!(cond)) { REPORT_WARNING_((MBase),msg); return; }
	Reports a std::string warning message msg to the MBase behaviour manager if cond evaluates to false (fatal = false).

Typedefs
Sensor Typedefs
More synonyms have been included than you will normally ever need. Additional commonly-used typedefs (that have extra dependencies) can be added in the user's code. For example: typedef Sensor<std::int64_t> SensorInt64 // Needs <cstdint> typedef Sensor<std::uint64_t> SensorUInt64 // Needs <cstdint> typedef Sensor<Eigen::Vector2f> SensorVec2f // Needs <Eigen/Core> typedef Sensor<Eigen::Vector3f> SensorVec3f // Needs <Eigen/Core> typedef Sensor<Eigen::Vector2d> SensorVec2d // Needs <Eigen/Core> typedef Sensor<Eigen::Vector3d> SensorVec3d // Needs <Eigen/Core>
typedef Sensor< bool >	behaviourcontrol::SensorBool
	An sensor of data type bool
typedef Sensor< int >	behaviourcontrol::SensorInt
	An sensor of data type int
typedef Sensor< unsigned int >	behaviourcontrol::SensorUInt
	An sensor of data type unsigned int
typedef Sensor< long >	behaviourcontrol::SensorLong
	An sensor of data type long
typedef Sensor< unsigned long >	behaviourcontrol::SensorULong
	An sensor of data type unsigned long
typedef Sensor< long long >	behaviourcontrol::SensorLLong
	An sensor of data type long long
typedef Sensor< unsigned long long >	behaviourcontrol::SensorULLong
	An sensor of data type unsigned long long
typedef Sensor< float >	behaviourcontrol::SensorFloat
	An sensor of data type float
typedef Sensor< double >	behaviourcontrol::SensorDouble
	An sensor of data type double
typedef Sensor< long double >	behaviourcontrol::SensorLDouble
	An sensor of data type long double
Actuator Typedefs
More synonyms have been included than you will normally ever need. Additional commonly-used typedefs (that have extra dependencies) can be added in the user's code. For example: typedef Actuator<std::int64_t> ActuatorInt64 // Needs <cstdint> typedef Actuator<std::uint64_t> ActuatorUInt64 // Needs <cstdint> typedef Actuator<Eigen::Vector2f> ActuatorVec2f // Needs <Eigen/Core> typedef Actuator<Eigen::Vector3f> ActuatorVec3f // Needs <Eigen/Core> typedef Actuator<Eigen::Vector2d> ActuatorVec2d // Needs <Eigen/Core> typedef Actuator<Eigen::Vector3d> ActuatorVec3d // Needs <Eigen/Core>
typedef Actuator< bool >	behaviourcontrol::ActuatorBool
	An actuator of data type bool
typedef Actuator< int >	behaviourcontrol::ActuatorInt
	An actuator of data type int
typedef Actuator< unsigned int >	behaviourcontrol::ActuatorUInt
	An actuator of data type unsigned int
typedef Actuator< long >	behaviourcontrol::ActuatorLong
	An actuator of data type long
typedef Actuator< unsigned long >	behaviourcontrol::ActuatorULong
	An actuator of data type unsigned long
typedef Actuator< long long >	behaviourcontrol::ActuatorLLong
	An actuator of data type long long
typedef Actuator< unsigned long long >	behaviourcontrol::ActuatorULLong
	An actuator of data type unsigned long long
typedef Actuator< float >	behaviourcontrol::ActuatorFloat
	An actuator of data type float
typedef Actuator< double >	behaviourcontrol::ActuatorDouble
	An actuator of data type double
typedef Actuator< long double >	behaviourcontrol::ActuatorLDouble
	An actuator of data type long double
Miscellaneous Typedefs
typedef std::size_t	behaviourcontrol::index_t
	Used to represent an array or vector index (must be an unsigned type)
typedef float	behaviourcontrol::level_t
	Used to represent an activation level (raw activation levels should always be in the range [0,1])
typedef int	behaviourcontrol::ret_t
	Used to represent an error code/function return value.

Enumerations
enum	behaviourcontrol::FuncReturnID {   behaviourcontrol::RET_OK = 0, behaviourcontrol::RET_MISC_FAILURE, behaviourcontrol::RET_NULL_POINTER, behaviourcontrol::RET_PREVIOUS_FATAL_ERROR,   behaviourcontrol::RET_ALREADY_INITIALISED, behaviourcontrol::RET_BIND_FAILED_NS, behaviourcontrol::RET_BIND_FAILED_ANF, behaviourcontrol::RET_BIND_FAILED_ASI,   behaviourcontrol::RET_INHIBITION_CYCLE }
	Used to specify return values and error codes of certain behaviour control framework functions. More...

Functions
template<class T >
void	behaviourcontrol::addIfUnique (std::vector< T > &V, T &value)
	Add an element to a std::vector if an equivalent element (A == B) is not already in there. More...

Variables
const std::string	behaviourcontrol::nullString = ""
	Used to avoid the need for null string literals throughout the code.
const level_t	behaviourcontrol::LVL_ACTIVE = 1.0
	Used to signal that a behaviour wishes to be fully activated.
const level_t	behaviourcontrol::LVL_INACTIVE = 0.0
	Used to signal that a behaviour wishes to be fully deactivated.
const bool	behaviourcontrol::AGGREGATABLE = true
	Used in the Actuator constructor to explicitly specify an aggregatable actuator.
const bool	behaviourcontrol::NOT_AGGREGATABLE = false
	Used in the Actuator constructor to specify a non-aggregatable actuator.

Detailed Description

Common definitions include file for the internal Behaviour Control Framework source code.