Resolver

class mobrob_behcon.core.resolver.Resolver

The class Resolver

It resolves a output for the actuators from given desires. Currently it understands desires fo following type:

• DesCmdVel

Methods

__init__()	Construct a new 'Resolver' object.
add_desire(desire)	Add new desire to resolver
get_current_time()	Get current time in milliseconds
reset()	Reset all lists (desires and behaviours)
resetDesires()	Reset all desire lists
resolveDesire(lst_desires)	function to resolve a value from a list of similar desires
runOnce()	Run one cycle of the resolver to calculate output values and publish corresponding messages
set_behaviour_lst(behaviours)	set the new active behaviour list

Details

__init__()

Construct a new ‘Resolver’ object.

Returns

returns nothing

add_desire(desire)

Add new desire to resolver

Parameters

desire (Desire) – a desire to be added to the resolver

Returns

returns nothing

static get_current_time()

Get current time in milliseconds

Returns

time in milliseconds

reset()

Reset all lists (desires and behaviours)

resetDesires()

Reset all desire lists

resolveDesire(lst_desires)

function to resolve a value from a list of similar desires

Parameters

lst_desires (list[Desire]) – a list of desires (all items of the same type)

Returns

returns the resolved value (depending on type of value in desire, can also be an array)

runOnce()

Run one cycle of the resolver to calculate output values and publish corresponding messages

set_behaviour_lst(behaviours)

set the new active behaviour list

Parameters

lst_behaviour (list(Behaviour)) – list of behaviour which are currently active