#include <GT2004SimpleBasicBehaviors.h>
Inheritance diagram for GT2004BasicBehaviorGoToPoint:
Public Member Functions | |
GT2004BasicBehaviorGoToPoint (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler) | |
virtual void | execute () |
Protected Attributes | |
double | x |
double | y |
double | destinationAngle |
double | distanceRemain |
double | angleRemain |
double | maxSpeed |
double | maxSpeedY |
double | walkType |
WalkAccelerationRestrictor | accelerationRestrictor |
Martin Lötzsch
Definition at line 138 of file GT2004SimpleBasicBehaviors.h.
GT2004BasicBehaviorGoToPoint::GT2004BasicBehaviorGoToPoint | ( | BehaviorControlInterfaces & | interfaces, | |
Xabsl2ErrorHandler & | errorHandler | |||
) | [inline] |
Definition at line 146 of file GT2004SimpleBasicBehaviors.h.
References angleRemain, destinationAngle, distanceRemain, maxSpeed, maxSpeedY, Xabsl2BasicBehavior::registerParameter(), walkType, x, and y.
void GT2004BasicBehaviorGoToPoint::execute | ( | ) | [virtual] |
Executes the basic behavior.
Implements Xabsl2BasicBehavior.
Definition at line 483 of file GT2004SimpleBasicBehaviors.cpp.
References accelerationRestrictor, angleRemain, Geometry::angleTo(), destinationAngle, distanceRemain, Geometry::distanceTo(), fromDegrees(), max, maxSpeed, maxSpeedY, min, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, normalize(), WalkAccelerationRestrictor::restrictAccelerations(), BehaviorControlInterfaces::robotPose, Pose2D::rotation, WalkAccelerationRestrictor::saveLastWalkParameters(), toDegrees(), Pose2D::translation, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, walkType, WalkRequest::walkType, Vector2< V >::x, x, Vector2< V >::y, and y.
Restricts the walk acceleration to maximum values
Definition at line 191 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute().
double GT2004BasicBehaviorGoToPoint::angleRemain [protected] |
parameter "angle-remain"
Definition at line 179 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToPoint().
double GT2004BasicBehaviorGoToPoint::destinationAngle [protected] |
parameter "go-to-point.destination-angle"
Definition at line 173 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToPoint().
double GT2004BasicBehaviorGoToPoint::distanceRemain [protected] |
parameter "distance-remain"
Definition at line 176 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToPoint().
double GT2004BasicBehaviorGoToPoint::maxSpeed [protected] |
parameter "go-to-point.max-speed"
Definition at line 182 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToPoint().
double GT2004BasicBehaviorGoToPoint::maxSpeedY [protected] |
parameter "go-to-point.max-speed.y"
Definition at line 185 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToPoint().
double GT2004BasicBehaviorGoToPoint::walkType [protected] |
parameter "walk-type"
Definition at line 188 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToPoint().
double GT2004BasicBehaviorGoToPoint::x [protected] |
parameter "go-to-point.x"
Definition at line 167 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToPoint().
double GT2004BasicBehaviorGoToPoint::y [protected] |
parameter "go-to-point.y"
Definition at line 170 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToPoint().