New architecture proposal (v.0.3.0)

[martinandrovich]

Architecture

After some discussion on how the system could be developed, i.e. which components are necessary, the following architecture is proposed:

src/
├── modules/            : components
|   ├── types/
|   |   ├── pose.h      : pos_t, orient_t, pose_t
|   |   ├── lidar.h     : lidar data, obs extraction etc.
|   |   ├── camera.h        : camera data, marble extraction etc.
|   |   └── ...
|   ├── constants.h     : system-wide constants
|   ├── flctrl.h        : fuzzy control
|   ├── local.h         : localization
|   ├── pathgen.h       : path generator
|   └── core.h          : core controller
└── main.cpp            : entry point

Components

• Core The central linkage point of components, with data and callback processing. The two main modes are FLCTRL_DEMO and MARBLE_COLLECTION.

• Fuzzy controller Obstacle avoidance and target (coordinate) navigation.

• Path generator Generation of target coordinates, being either in mode AI or ROB.

• Localization Estimation of the robots current position; overrides the callback pose data if active.

• Obstacle extraction The lidar_t module has methods for extracting the nearest obstacles from the lidar data. A std::map of all nearest obstacles is kept in core.

• Marble extraction The camera_t module has methods for extracting marbles within reach from the camra and lidar data. A std::map of all nearby marbles is kept in core.

Flow