Open MORA (MObile Robot Architecture)

Module: WorldModel

Module info:

Module name	Short description	Publishes	Subscribes
WorldModel	This module keeps a topological representation of the world	ERROR_MSG , GRAPH , GUI_VISIBLE_TOPOLOGICAL_MAP , NAVIGATE_TARGET , NODE_POSITION , PATH , PERSON_LOCATION	ADD_ARC , ADD_NODE , CHANGE_NODE_LABEL , GET_NODE_POSITION , GET_PATH , GET_PERSON_LOCATION , LOAD_GRAPH , MOVE_NODE , REMOVE_ARC , REMOVE_NODE , ROBOT_TOPOLOGICAL_PLACE , SAVE_GRAPH , SHUTDOWN

MOOS commands accepted by the module:

(None)

Parameters accepted in the MOOS mission file:

Parameter	Description
`world_model_file`	Path to a XML file contaning the topologic structure of the world

Detailed description:
This module keeps a topological representation of the worldand implements functions to create, modify and delete nodes and arcs,as well as finding paths from one node to another.

Module graph:

TODO list:
(None)

Changes log:
12-11-2013 Updated method GET_PATH. Now it only takes one argument (the target node to travel to), and its implemented as NewMail12-11-2013 Added condition to OnNewMail ADD_NODE. Label of the new node should not already exists.13-11-2013 Moved functionallity from Iterate to OnNewMail, since they only should be called on request.13-11-2013 Addded Subscription to CHANGE_NODE_LABEL to change the label of a node in the topology.13.11.2013 Added Subscription to REMOVE_ARC to remove all arcs (for bidirectionality) between two nodes.13.11.2013 Added Subscription to REMOVE_NODE to remove node from Topology.12-11-2013 Included comments on most functions and methods.12-11-2013 Added function to Rename (change label) an existing node: bool SetNodeLabel (const size_t id,std::string &label);12-11-2013 Added function to Check if node with given label already exists: bool ExistsNodeLabel (std::string label);13-11-2013 Added function to remove all existing arcs between two given nodes: DeleteArcsBetweenNodes(size_t idfrom, size_t idto, const std::string type)13-11-2013 Added function to remove all incomming arcs from a given node: CAHGraph::DeleteIncommingArcs(const uint64_t idnode,const std::string arc_type)13-11-2013 Added function to remove all existing arcs incomming or outcomming from a given node: CAHGraph::DeleteAllArcs(const uint64_t idnode,const std::string arc_type)13-11-2013 Added function to remove all existing arcs incomming or outcomming from a given node: CAHGraph::DeleteAllArcs(const uint64_t idnode)13-11-2013 Added function to remove an existing node: DeleteNode(const std::string label)13-11-2013 Fixed problems when nodes do not exists, avoiding RunTimeErrors.

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