Robot Class Reference

Robot class bridges the gap between sensors and INavigation. The navigation direction is cached in Robot.navigationCommand. This class does not implement any physics simulation. Robot locomotion models are implemented in other classes that require this component for communications and data. More...

Inheritance diagram for Robot:

Collaboration diagram for Robot:

Public Member Functions
delegate void	SensorData (ProximityData data)
	Sensor callback delegate type More...
void	NavigateToDestination ()
	Enable sensors, start moving toward destination using INavigation More...
void	Reset ()
	Reset the robot, disable sensors More...
void	ReceiveSensorData (ProximityData data)
	Sensor data callback passes proximity data to INavigation More...

Public Attributes
bool	manualControl
	If true, the robot navigation is controlled using the keyboard. More...
bool	moveEnabled
	A flag indicating whether the robot should try moving. More...
float	stopDistance
	The maximum distance from the destination before setting atDestination to true. More...
Transform	destination
	Reference to the destination GameObject More...
Vector3	centerOfMassOffset
	RigidBody center of mass offset vector in local coordinates. More...

Properties
INavigation	navigation [get, set]
	Interface to the navigation assembly. More...
Vector3	navigationCommand [get, private set]
	The cached navigation bearing from INavigation. More...
bool	pathFound [get]
	Gets a value indicating whether navigation found a path to destination. More...
Vector3	position [get, set]
	Gets or sets the transform position. More...
Transform	cameraMount [get, private set]
	The first-person perspective camera position. More...
Bounds	bounds [get]
	Gets the bounds of the robot for IObservable More...
bool	atDestination [get]
float	distanceToDestination [get]
bool	isStuck [get]
int	stuckpc [get]
Properties inherited from IObservable
string	name [get]
	Gets the name of the observable object More...
Bounds	bounds [get]
	Gets the bounds of the observable object (size and location) More...

Private Member Functions
void	Awake ()
void	Update ()
void	OnDrawGizmos ()
IEnumerator	StuckDetector ()
IEnumerator	RecordPath ()

Private Attributes
INavigation	_navigation
Sensor[]	_sensors
Vector3	_move
int	_stuckCounter
Vector3[]	_positions
BotPath	_path
Vector3	_size

Detailed Description

Robot class bridges the gap between sensors and INavigation. The navigation direction is cached in Robot.navigationCommand. This class does not implement any physics simulation. Robot locomotion models are implemented in other classes that require this component for communications and data.

Definition at line 11 of file Robot.cs.

Member Function Documentation

void Robot.Awake ( )

private

Definition at line 210 of file Robot.cs.

                         {
        _sensors = GetComponentsInChildren<Sensor>();
        StartCoroutine(StuckDetector());
        cameraMount = transform.Find("CameraMount");
        if (!cameraMount) {
            cameraMount = transform;
            Debug.LogWarning("CameraMount object not found on Robot.");
        } 
        // calculate size bounding box for renderers
        Bounds b = new Bounds(Vector3.zero, Vector3.zero);
        foreach(Renderer r in GetComponentsInChildren<Renderer>())
            b.Encapsulate(r.bounds);
        _size = b.size;
        // add center of mass offset
        rigidbody.centerOfMass += centerOfMassOffset;
        // initialise bath plotter
        _path = new BotPath();
        StartCoroutine(RecordPath());
    }

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void Robot.NavigateToDestination

(

)

Enable sensors, start moving toward destination using INavigation

Definition at line 164 of file Robot.cs.

                                        {
        if (_navigation == null) return;
        StartCoroutine( _navigation.SearchForPath(rigidbody.worldCenterOfMass, destination.position) );
        Debug.Log("Path search due to NavigationToDestination() call.");
        foreach(Sensor s in _sensors) {
            s.Enable(ReceiveSensorData);
        }
    }

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void Robot.OnDrawGizmos ( )

private

Definition at line 286 of file Robot.cs.

                                {
        if (_navigation != null) {
            _navigation.DrawGizmos();
        }
            
        // draw center of mass
        Gizmos.color = Color.Lerp(Color.yellow, Color.clear, 0.25f);
        if (Application.isPlaying) {
            Gizmos.DrawSphere(rigidbody.worldCenterOfMass, 0.05f);
        } else {
            Gizmos.DrawSphere(rigidbody.worldCenterOfMass + centerOfMassOffset, 0.05f);
        }
        
    }

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void Robot.ReceiveSensorData

(

ProximityData

data

)

Sensor data callback passes proximity data to INavigation

Parameters

data

Data.

Definition at line 188 of file Robot.cs.

                                                      {
        if (_navigation == null) return;
        // data is recieved here by any enabled sensor in world space
        // transformed into robot local space if necessary
        // and transmitted to INavigation
        if (_navigation.spaceRelativeTo == Space.Self) {
            _navigation.Proximity(
                Vector3.zero,
                transform.InverseTransformDirection(data.direction),
                data.obstructed);
        } else {
            _navigation.Proximity(
                transform.position,
                transform.position + data.direction,
                data.obstructed);
        }
    }

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IEnumerator Robot.RecordPath ( )

private

Definition at line 323 of file Robot.cs.

                                     {
        Vector3 prev = rigidbody.worldCenterOfMass;;
        _path.AddNode(prev, Simulation.time);
        while (true) {
            // only record a line when bot has moved far enough
            if (Vector3.Distance(prev, rigidbody.worldCenterOfMass) > 0.1f) {
                prev = rigidbody.worldCenterOfMass;
                _path.AddNode(rigidbody.worldCenterOfMass, Simulation.time);
            }
            yield return new WaitForSeconds(Log.timeStep);
        }
    }

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void Robot.Reset

(

)

Reset the robot, disable sensors

Definition at line 176 of file Robot.cs.

                        {
        _path = new BotPath();
        _positions = new Vector3[30];
        foreach(Sensor s in _sensors) {
            s.Disable();
        }
    }

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delegate void Robot.SensorData

(

ProximityData

data

)

Sensor callback delegate type

IEnumerator Robot.StuckDetector ( )

private

Definition at line 302 of file Robot.cs.

                                        {
        _positions = new Vector3[30];
        int i = 0;
        while(true) {
            _positions[i] = transform.position;
            if (++i >= _positions.Length) i = 0;
            Vector3 avg = Vector3.zero;
            foreach(Vector3 v in _positions) {
                avg += v;
            }
            avg /= (float)_positions.Length;
            if (Vector3.Distance(avg, transform.position) < 1f && Simulation.isRunning) {
                _stuckCounter++;
            }
            else {
                _stuckCounter = 0;
            }
            yield return new WaitForSeconds(0.3f);
        }
    }

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void Robot.Update ( )

private

Definition at line 231 of file Robot.cs.

                          {
    
    
    
        // manual control for testing robots
        if (manualControl) {
            float x = Input.GetAxis("X");
            float y = Input.GetAxis("Y");
            float z = Input.GetAxis("Z");
            
            navigationCommand = new Vector3(x, y, z);

        }
        else if (Simulation.isRunning){
            
            // draw path
            _path.DrawPath();
            
            if (_navigation == null) return;
            // Update INavigation.destination if it has changed.
            if (destination.hasChanged) {
                if (Vector3.Distance(_navigation.destination,destination.position)>0.5f) {
                    if (_navigation.spaceRelativeTo == Space.Self) {
                        Vector3 dest = transform.InverseTransformPoint(destination.position);
                        StartCoroutine( _navigation.SearchForPath(Vector3.zero, dest) );
                    }
                    else {
                        StartCoroutine( _navigation.SearchForPath(rigidbody.worldCenterOfMass, destination.position) );
                    }
                    Debug.Log("Path search due to destination change.");
                }

                destination.hasChanged = false;
            }
            
            // Read move direction if a path has been found.
            if (_navigation.pathFound) {
                if (navigation.spaceRelativeTo == Space.Self) {
                    navigationCommand = _navigation.PathDirection(Vector3.zero);
                    navigationCommand = transform.TransformDirection(navigationCommand);
                }
                else {
                    navigationCommand = _navigation.PathDirection(transform.position);
                }
                Debug.DrawRay(transform.position, navigationCommand * stopDistance, Color.green);
            }
            else {
                navigationCommand = Vector3.zero;
            }       
        }
    }

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Member Data Documentation

Vector3 Robot._move

private

Definition at line 51 of file Robot.cs.

INavigation Robot._navigation

private

Definition at line 49 of file Robot.cs.

BotPath Robot._path

private

Definition at line 54 of file Robot.cs.

Vector3 [] Robot._positions

private

Definition at line 53 of file Robot.cs.

Sensor [] Robot._sensors

private

Definition at line 50 of file Robot.cs.

Vector3 Robot._size

private

Definition at line 55 of file Robot.cs.

int Robot._stuckCounter

private

Definition at line 52 of file Robot.cs.

Vector3 Robot.centerOfMassOffset

RigidBody center of mass offset vector in local coordinates.

Definition at line 44 of file Robot.cs.

Transform Robot.destination

Reference to the destination GameObject

Definition at line 39 of file Robot.cs.

bool Robot.manualControl

If true, the robot navigation is controlled using the keyboard.

Definition at line 24 of file Robot.cs.

bool Robot.moveEnabled

A flag indicating whether the robot should try moving.

Definition at line 29 of file Robot.cs.

float Robot.stopDistance

The maximum distance from the destination before setting atDestination to true.

Definition at line 34 of file Robot.cs.

Property Documentation

bool Robot.atDestination

get

Definition at line 125 of file Robot.cs.

Bounds Robot.bounds

get

Gets the bounds of the robot for IObservable

Definition at line 119 of file Robot.cs.

Transform Robot.cameraMount

getprivate set

The first-person perspective camera position.

Definition at line 114 of file Robot.cs.

float Robot.distanceToDestination

get

Definition at line 134 of file Robot.cs.

bool Robot.isStuck

get

Definition at line 146 of file Robot.cs.

INavigation Robot.navigation

getset

Interface to the navigation assembly.

When set, the INavigation interface is initialised: INavigation.searchBounds is set, INavigation.origin is set, INavigation.destination is set.

Definition at line 67 of file Robot.cs.

Vector3 Robot.navigationCommand

getprivate set

The cached navigation bearing from INavigation.

Definition at line 89 of file Robot.cs.

bool Robot.pathFound

get

Gets a value indicating whether navigation found a path to destination.

true if path found; otherwise, false.

Definition at line 97 of file Robot.cs.

Vector3 Robot.position

getset

Gets or sets the transform position.

Definition at line 106 of file Robot.cs.

int Robot.stuckpc

get

Definition at line 152 of file Robot.cs.

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

• Assets/botnavsim/Scripts/Robots/Robot.cs