behaviourcontrol Namespace Reference

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

Classes
class	Behaviour
	Implements a single behaviour. More...
class	ActuatorManager
	Implements a manager of a particular group of actuators. More...
class	ActuatorBase
	Implements a single actuator. More...
class	Actuator
	Implements a single actuator of a given data type. More...
class	Sensor
	Implements a single sensor of a given data type. More...
class	BehaviourLayer
	Implements a single behaviour layer. More...
class	BehaviourManager
	Implements a single behaviour manager. More...
class	SensorManager
	Implements a manager of a particular group of sensors. More...
class	SensorBase
	Implements a single sensor. More...

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 >	SensorBool
	An sensor of data type bool
typedef Sensor< int >	SensorInt
	An sensor of data type int
typedef Sensor< unsigned int >	SensorUInt
	An sensor of data type unsigned int
typedef Sensor< long >	SensorLong
	An sensor of data type long
typedef Sensor< unsigned long >	SensorULong
	An sensor of data type unsigned long
typedef Sensor< long long >	SensorLLong
	An sensor of data type long long
typedef Sensor< unsigned long long >	SensorULLong
	An sensor of data type unsigned long long
typedef Sensor< float >	SensorFloat
	An sensor of data type float
typedef Sensor< double >	SensorDouble
	An sensor of data type double
typedef Sensor< long double >	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 >	ActuatorBool
	An actuator of data type bool
typedef Actuator< int >	ActuatorInt
	An actuator of data type int
typedef Actuator< unsigned int >	ActuatorUInt
	An actuator of data type unsigned int
typedef Actuator< long >	ActuatorLong
	An actuator of data type long
typedef Actuator< unsigned long >	ActuatorULong
	An actuator of data type unsigned long
typedef Actuator< long long >	ActuatorLLong
	An actuator of data type long long
typedef Actuator< unsigned long long >	ActuatorULLong
	An actuator of data type unsigned long long
typedef Actuator< float >	ActuatorFloat
	An actuator of data type float
typedef Actuator< double >	ActuatorDouble
	An actuator of data type double
typedef Actuator< long double >	ActuatorLDouble
	An actuator of data type long double
Miscellaneous Typedefs
typedef std::size_t	index_t
	Used to represent an array or vector index (must be an unsigned type)
typedef float	level_t
	Used to represent an activation level (raw activation levels should always be in the range [0,1])
typedef int	ret_t
	Used to represent an error code/function return value.

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

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

Detailed Description

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

Enumeration Type Documentation

enum behaviourcontrol::FuncReturnID

Used to specify return values and error codes of certain behaviour control framework functions.

Enumerator
RET_OK	Signals successful execution of a function, with no error conditions encountered.
RET_MISC_FAILURE	Signals an unknown or unspecified error.
RET_NULL_POINTER	Signals that an unexpected null pointer was encountered (usually as a function parameter)
RET_PREVIOUS_FATAL_ERROR	Signals that an action was attempted despite a pre-existing fatal error condition.
RET_ALREADY_INITIALISED	Signals that a duplicate call of a once-only initialisation function was attempted.
RET_BIND_FAILED_NS	Signals that an attempt to bind a sensor to an actuator failed because of a null sensor signal name.
RET_BIND_FAILED_ANF	Signals that an attempt to bind a sensor to an actuator failed because no actuator of a suitable name was found.
RET_BIND_FAILED_ASI	Signals that an attempt to bind a sensor to an actuator failed because of an actuator/sensor data type incompatibility.
RET_INHIBITION_CYCLE	Signals that a cycle was detected in the behaviour inhibition definitions of a layer.

Function Documentation

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.

This helper function is used internally by the BehaviourLayer class while resolving the inhibition structure.

Parameters

V	The std::vector to append a value to.
value	The value to append.