#include <GT2004CollisionDetector.h>
Inheritance diagram for GT2004CollisionDetector:
Public Member Functions | |
GT2004CollisionDetector (const CollisionDetectorInterfaces &interfaces) | |
virtual void | execute () |
Private Member Functions | |
void | calculateThresholds () |
Private Attributes | |
int | ringBuffer [SensorData::numOfSensor_ERS210][128][2] |
int | floatingAvg [SensorData::numOfSensor_ERS210][SensorDataBuffer::maxNumOfFrames][16] |
int | minAvg [SensorData::numOfSensor_ERS210][SensorDataBuffer::maxNumOfFrames] |
int | threshold [SensorData::numOfSensor_ERS210][3] |
int | oldVal |
int | newVal |
int | index |
int | min |
int | max |
int | infin |
int | walkingMode |
int | q |
double | lastMotionChange |
double | currentMotionX |
double | currentMotionY |
double | currentRotation |
double | lastMotionX |
double | lastMotionY |
double | lastRotation |
double | motionChangeThresholdX |
double | motionChangeThresholdY |
double | motionChangeThresholdR |
double | frontMin |
double | frontMax |
double | backMin |
double | backMax |
double | sideMin |
double | sideMax |
double | rotMin |
double | rotMax |
double | calmDown |
double | scaleThresholdFore |
double | scaleThresholdBack |
double | scaleThresholdSide |
double | scaleThresholdRot |
double | motionChangeThresholdFactor |
double | lastTooBigMotionChange |
double | xRatio |
double | yRatio |
double | rRatio |
Definition at line 18 of file GT2004CollisionDetector.h.
GT2004CollisionDetector::GT2004CollisionDetector | ( | const CollisionDetectorInterfaces & | interfaces | ) |
Constructor
Definition at line 22 of file GT2004CollisionDetector.cpp.
References d, SensorData::legFL3, SensorData::legFR3, SensorData::legHL3, SensorData::legHR3, max, SensorDataBuffer::maxNumOfFrames, min, and SensorData::numOfSensor_ERS210.
void GT2004CollisionDetector::calculateThresholds | ( | ) | [private] |
Calculated the angle thresholds
To Test
Definition at line 112 of file GT2004CollisionDetector.cpp.
References backMax, backMin, currentMotionX, currentMotionY, currentRotation, frontMax, frontMin, SensorData::headPan, SensorData::headTilt, infin, int(), SensorData::legFL1, SensorData::legFL2, SensorData::legFR1, SensorData::legFR2, SensorData::legHL1, SensorData::legHL2, SensorData::legHR1, SensorData::legHR2, SensorData::neckTilt, rotMax, rotMin, scaleThresholdBack, scaleThresholdFore, scaleThresholdRot, scaleThresholdSide, sideMax, sideMin, threshold, and walkingMode.
Referenced by execute().
void GT2004CollisionDetector::execute | ( | ) | [virtual] |
Executes the module
Implements Module.
Definition at line 425 of file GT2004CollisionDetector.cpp.
References calculateThresholds(), calmDown, CollisionDetectorInterfaces::collisionPercept, currentMotionX, currentMotionY, currentRotation, d, SensorData::data, MotionInfo::executedMotionRequest, floatingAvg, SensorDataBuffer::frame, SensorData::frameNumber, JointData::headPan, SensorData::headPan, JointData::headTilt, SensorData::headTilt, index, int(), lastMotionChange, lastMotionX, lastMotionY, lastRotation, JointData::legFL1, SensorData::legFL1, JointData::legFL2, SensorData::legFL2, JointData::legFL3, JointData::legFR1, SensorData::legFR1, JointData::legFR2, SensorData::legFR2, JointData::legFR3, JointData::legHL1, SensorData::legHL1, JointData::legHL2, SensorData::legHL2, JointData::legHL3, JointData::legHR1, SensorData::legHR1, JointData::legHR2, SensorData::legHR2, JointData::legHR3, max, SensorDataBuffer::maxNumOfFrames, min, minAvg, motionChangeThresholdFactor, motionChangeThresholdR, motionChangeThresholdX, motionChangeThresholdY, CollisionDetectorInterfaces::motionInfo, MotionRequest::motionType, JointData::neckTilt, SensorData::neckTilt, newVal, WalkRequest::normal, SensorDataBuffer::numOfFrames, SensorData::numOfSensor_ERS210, oldVal, q, SensorData::refValue, CollisionPercept::reset(), ringBuffer, Pose2D::rotation, rRatio, CollisionDetectorInterfaces::sensorDataBuffer, CollisionPercept::setFrameNumber(), CollisionPercept::state, threshold, Pose2D::translation, MotionRequest::walk, walkingMode, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< V >::x, xRatio, Vector2< V >::y, and yRatio.
double GT2004CollisionDetector::backMax [private] |
double GT2004CollisionDetector::backMin [private] |
double GT2004CollisionDetector::calmDown [private] |
double GT2004CollisionDetector::currentMotionX [private] |
Definition at line 35 of file GT2004CollisionDetector.h.
Referenced by calculateThresholds(), and execute().
double GT2004CollisionDetector::currentMotionY [private] |
Definition at line 36 of file GT2004CollisionDetector.h.
Referenced by calculateThresholds(), and execute().
double GT2004CollisionDetector::currentRotation [private] |
Definition at line 37 of file GT2004CollisionDetector.h.
Referenced by calculateThresholds(), and execute().
int GT2004CollisionDetector::floatingAvg[SensorData::numOfSensor_ERS210][SensorDataBuffer::maxNumOfFrames][16] [private] |
double GT2004CollisionDetector::frontMax [private] |
double GT2004CollisionDetector::frontMin [private] |
int GT2004CollisionDetector::index [private] |
int GT2004CollisionDetector::infin [private] |
double GT2004CollisionDetector::lastMotionChange [private] |
double GT2004CollisionDetector::lastMotionX [private] |
double GT2004CollisionDetector::lastMotionY [private] |
double GT2004CollisionDetector::lastRotation [private] |
double GT2004CollisionDetector::lastTooBigMotionChange [private] |
Definition at line 59 of file GT2004CollisionDetector.h.
int GT2004CollisionDetector::max [private] |
int GT2004CollisionDetector::min [private] |
int GT2004CollisionDetector::minAvg[SensorData::numOfSensor_ERS210][SensorDataBuffer::maxNumOfFrames] [private] |
double GT2004CollisionDetector::motionChangeThresholdFactor [private] |
double GT2004CollisionDetector::motionChangeThresholdR [private] |
double GT2004CollisionDetector::motionChangeThresholdX [private] |
double GT2004CollisionDetector::motionChangeThresholdY [private] |
int GT2004CollisionDetector::newVal [private] |
int GT2004CollisionDetector::oldVal [private] |
int GT2004CollisionDetector::q [private] |
int GT2004CollisionDetector::ringBuffer[SensorData::numOfSensor_ERS210][128][2] [private] |
double GT2004CollisionDetector::rotMax [private] |
double GT2004CollisionDetector::rotMin [private] |
double GT2004CollisionDetector::rRatio [private] |
double GT2004CollisionDetector::scaleThresholdBack [private] |
double GT2004CollisionDetector::scaleThresholdFore [private] |
double GT2004CollisionDetector::scaleThresholdRot [private] |
double GT2004CollisionDetector::scaleThresholdSide [private] |
double GT2004CollisionDetector::sideMax [private] |
double GT2004CollisionDetector::sideMin [private] |
int GT2004CollisionDetector::threshold[SensorData::numOfSensor_ERS210][3] [private] |
Definition at line 24 of file GT2004CollisionDetector.h.
Referenced by calculateThresholds(), and execute().
int GT2004CollisionDetector::walkingMode [private] |
Definition at line 31 of file GT2004CollisionDetector.h.
Referenced by calculateThresholds(), and execute().
double GT2004CollisionDetector::xRatio [private] |
double GT2004CollisionDetector::yRatio [private] |