Welcome to RCPPSW’s documentation!

This is a collection of various useful algorithms/data structures/etc. that I have found useful for multi-agent robots research, and that do not currently exist in Boost, or that build on what boost provides. Includes such things as:

• Event reporting framework, built on top of Log4cxx.

• Logical task hierarchy, including executives capable of executing a task decomposition graph.

• Data structures involved, such as 2D/3D grid graphs, multiprocessing/multithreading queues/vectors, type maps.

• Some reusable named type definitions.

• Implementation of various design patterns:

  • polled FSM, Hierarchical FSM

  • decorator

  • visitor

  • factory (releasing/sharing variants)

  • prototype

  • singleton

  • PIMPL

• Components that DO exist elsewhere, but I found their implementations somewhat hard to follow/poorly documented, and it was easier to roll my own.

  • Control theoretic bits such as PID loops

  • Miscellaneous other things as kmeans clustering, multithreading/multiprocessing management tools.

Contents:

• Setting Up RCPPSW
  • Developer Setup
• Using RCPPSW: Runtime Configuration
  • XML Configuration
• Contributing
  • Workflow
• RCPPSW API
  • Full API