RDStrategy

class mobrob_behcon.strategies.rd_strategy.RDStrategy(dock, turn90)

The class RDStrategy

The class is a child of the abstract class Strategy and manages the strategic level of the behaviours based control of the application RightAngleDock as statemachine.

Attributes

lst_behgrps

Methods

__init__(dock, turn90)	constructor
activate_exclusive(behgrp)	activate given behaviour group (need to be added before to strategy)
add_behgrp(behgrp)	add behaviour sroup to strategy
is_finished()	Returns if stratgy in finish-state
plan()	plan() method, where the magic happens :).
set_node(beh_node)	Sets the active BehConNode, where it has been added to.

Details

__init__(dock, turn90)

constructor

Parameters

• dock (BehaviourGroup) – a BehaviourGroup containing the necessary behaviours for first task

• turn90 (BehaviourGroup) – a BehaviourGroup containing the necessary behaviours for second task

activate_exclusive(behgrp)

activate given behaviour group (need to be added before to strategy)

Parameters

behgrp (BehaviourGroup) – behaviour group

add_behgrp(behgrp)

add behaviour sroup to strategy

Parameters

behgrp (BehaviourGroup) – behaviour group

is_finished()

Returns if stratgy in finish-state

Returns

True if statemachine is in finish-state, else False

plan()

plan() method, where the magic happens :). It contains and manages the state machine.

set_node(beh_node)

Sets the active BehConNode, where it has been added to.

Parameters

beh_node – node of type BehConNode

Returns

returns nothing