Hey, two points: - this question would better be placed on the robotics stack exchange website (with the syskit and rock tags) as we discussed earlier on this ML - it is generally better to ask *what* you want to do first (i.e. when my pipeline follower reaches heading X I want to do Y), not *how* you think you should be doing it (state machine, create roby task and so on)
Sylvain On Tue, Jun 3, 2014 at 3:53 PM, Matthias Goldhoorn < [email protected]> wrote: > I search for a nice way to define that transition should only be done IF > some conditions (like data on input ports) are valid. > > Concrete: > > find_pipe_back = state target_move_def(:finish_when_reached => false , > :heading => 1 ...) > pipe_detector = state pipeline_detector_def > pipe_detector.depends_on find_pipe_back, :role => "detector" > start(pipe_detector) > > script do > somewhow_get_reader_of_orientation > if orientation.yaw < foo and orientation.yaw > 2 > forward pipe_detector.align_auv_event, success_event > end > end > > > I thoug to do anything like creating a Roby::Task like this: > > class Foo::Task << Roby::Task > add OrientationSrv, :as => ori_p > reader = ori_p.orientation.reader > script do > if ori.yaw ..... > emit :failed > else > emit :success > end > end > > and then fallback in the statemachine to the original state, but i > assume this will result in a nonsense-loop. Is there a better way to do > those things? > > Best, > Matthias > > > > -- > -- > Matthias Goldhoorn > Unterwasserrobotik > > Standort Bremen: > DFKI GmbH > Robotics Innovation Center > Robert-Hooke-Straße 5 > 28359 Bremen, Germany > > Phone: +49 (0)421 218-64100 > Fax: +49 (0)421 218-64150 > E-Mail: [email protected] > > Weitere Informationen: http://www.dfki.de/robotik > ----------------------------------------------------------------------- > Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH > Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern > Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster > (Vorsitzender) Dr. Walter Olthoff > Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes > Amtsgericht Kaiserslautern, HRB 2313 > Sitz der Gesellschaft: Kaiserslautern (HRB 2313) > USt-Id.Nr.: DE 148646973 > Steuernummer: 19/673/0060/3 > ----------------------------------------------------------------------- > > > _______________________________________________ > Rock-dev mailing list > [email protected] > http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev >
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