#include <BehaviorControl.h>
Inheritance diagram for BehaviorControlInterfaces:
Definition at line 58 of file BehaviorControl.h.
BehaviorControlInterfaces::BehaviorControlInterfaces | ( | TaskVisionData & | taskVisionData, | |
const RobotPose & | robotPose, | |||
const BallModel & | ballModel, | |||
const PlayerPoseCollection & | playerPoseCollection, | |||
const ObstaclesModel & | obstaclesModel, | |||
const RobotState & | robotState, | |||
const MotionInfo & | motionInfo, | |||
const SpecialPercept & | specialPercept, | |||
const TeamMessageCollection & | teamMessageCollection, | |||
const JoystickData & | joystickData, | |||
const OdometryData & | odometryData, | |||
const SampleSetProxy< PoseSample > & | selfLocatorSamples, | |||
const SensorDataBuffer & | sensorDataBuffer, | |||
const PSDPercept & | psdPercept, | |||
GameControlData & | gameControlData, | |||
MotionRequest & | motionRequest, | |||
LEDRequest & | ledRequest, | |||
HeadControlMode & | headControlMode, | |||
SoundRequest & | soundRequest, | |||
InvKinWalkingParameters & | invKinWalkingParameters, | |||
GT2004Parameters & | gt2004Parameters, | |||
unsigned long & | walkParameterTimeStamp, | |||
SpecialVisionRequest & | specialVisionRequest, | |||
CalibrationRequest & | calibrationRequest, | |||
BehaviorTeamMessage & | outgoingBehaviorTeamMessage, | |||
SLAMData & | slamData | |||
) | [inline] |
Constructor.
Definition at line 62 of file BehaviorControl.h.
const BallModel& BehaviorControlInterfaces::ballModel [protected] |
The position and the speed of the ball
Definition at line 131 of file BehaviorControl.h.
Referenced by GT2004StrategySymbols::computeRole(), GT2004StrategySymbols::estimateTimeToReachBall(), KickLogger::execute(), GT2004BasicBehaviorGoaliePosition::execute(), GT2004BasicBehaviorGoToBallWithoutTurning::execute(), GT2004BasicBehaviorGoToBall::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), BallSymbols::getAngleToOpponentGoal(), BallSymbols::getBallSeenInFrontOfOpponentGoal(), KickLogger::getBallX(), KickLogger::getBallY(), BallSymbols::getConsecutivelySeenTime(), BallSymbols::getDistanceSeenBallToOwnPenaltyArea(), GT2004StrategySymbols::getGoalieMaxPositionSpeed(), BallSymbols::getJustSeen(), BallSymbols::getKnownAngle(), BallSymbols::getKnownDistance(), BallSymbols::getKnownX(), BallSymbols::getKnownY(), BallSymbols::getMotionValidity(), BallSymbols::getNumberOfImagesWithBallPercept(), BallSymbols::getNumberOfImagesWithoutBallPercept(), BallSymbols::getProjectedDistanceOnYAxis(), BallSymbols::getSeenAngle(), BallSymbols::getSeenDistance(), BallSymbols::getSeenDistanceX(), BallSymbols::getSeenDistanceY(), BallSymbols::getSeenRelativeSpeedX(), BallSymbols::getSeenRelativeSpeedY(), BallSymbols::getSeenSpeed(), BallSymbols::getTimeSinceLastKnown(), BallSymbols::getTimeSinceLastSeen(), BallSymbols::getTimeSinceLastSeenConsecutively(), BallSymbols::getTimeUntilBallCrossesYAxis(), GT2004BehaviorControl::postExecute(), GT2004BehaviorControl::preExecute(), BallSymbols::registerSymbols(), KickSelectionSymbols::retrieveKick(), ObstaclesSymbols::update(), and BallSymbols::update().
A request for calibration
Definition at line 190 of file BehaviorControl.h.
Referenced by CalibrationSymbols::registerSymbols().
Messages that are sent by the referee
Definition at line 167 of file BehaviorControl.h.
Referenced by RoboCupGameManagerSymbols::getKickoff(), RoboCupGameManagerSymbols::getOpponentScore(), RoboCupGameManagerSymbols::getOwnScore(), RoboCupGameManagerSymbols::getState(), RoboCupGameManagerSymbols::getTimeSinceLastMessage(), DefaultOptionRating::rateOptions(), GT2004ConfigurationSymbols::update(), and RoboCupGameManagerSymbols::update().
Definition at line 183 of file BehaviorControl.h.
Referenced by GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), and GT2004BehaviorControl::handleMessage().
The head control mode to be set by the behavior
Definition at line 176 of file BehaviorControl.h.
Referenced by GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BehaviorControl::postExecute(), and HeadAndTailSymbols::registerSymbols().
walking parameter sets to be used by the WalkingEngine, eg calculated by evolution behavior
Definition at line 182 of file BehaviorControl.h.
Referenced by GT2004BasicBehaviorEvolveOmniParameters::execute().
const JoystickData& BehaviorControlInterfaces::joystickData [protected] |
Data produced by an extern sensor called joystick
Definition at line 152 of file BehaviorControl.h.
Referenced by JoystickSymbols::getJoystickButton(), JoystickSymbols::getJoystickTimeSinceLastMessage(), JoystickSymbols::getSpecialActionId(), and JoystickSymbols::registerSymbols().
LEDRequest& BehaviorControlInterfaces::ledRequest [protected] |
The led request to be set by the behavior
Definition at line 173 of file BehaviorControl.h.
Referenced by GT2004BehaviorControl::postExecute(), GT2004BehaviorControl::preExecute(), DefaultOptionRating::rateOptions(), and LEDAndSoundSymbols::registerSymbols().
const MotionInfo& BehaviorControlInterfaces::motionInfo [protected] |
The motions that are currently executed by the MotionControl
Definition at line 143 of file BehaviorControl.h.
Referenced by KickLogger::execute(), MotionRequestSymbols::getExecutedSpecialActionType(), MotionRequestSymbols::getPositionInWalkCycle(), GT2004BehaviorControl::postExecute(), and MotionRequestSymbols::registerSymbols().
MotionRequest& BehaviorControlInterfaces::motionRequest [protected] |
The motion request to be set by the behavior
Definition at line 170 of file BehaviorControl.h.
Referenced by KickLogger::execute(), GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute(), GT2004BasicBehaviorGoForwardToPoint::execute(), GT2004BasicBehaviorTurnAroundPoint::execute(), GT2004BasicBehaviorGoaliePositionReturn::execute(), GT2004BasicBehaviorGoaliePosition::execute(), GT2004BasicBehaviorGoToBallWithoutTurning::execute(), GT2004BasicBehaviorGoToBall::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), BasicBehaviorPlayDead::execute(), BasicBehaviorStand::execute(), BasicBehaviorSpecialAction::execute(), BasicBehaviorWalk::execute(), Xabsl2BehaviorControl::executeIfEngineCouldNotBeCreated(), GT2004BehaviorControl::postExecute(), GT2004BehaviorControl::preExecute(), Xabsl2BehaviorControl::printGeneratedMainActionToString(), and HeadAndTailSymbols::registerSymbols().
const ObstaclesModel& BehaviorControlInterfaces::obstaclesModel [protected] |
The positions of the obstacles
Definition at line 137 of file BehaviorControl.h.
Referenced by AngleSymbols::calculateCombinedAngles(), AngleSymbols::calculateVisionBasedAngles(), GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), GT2004ConfigurationSymbols::update(), and ObstaclesSymbols::update().
const OdometryData& BehaviorControlInterfaces::odometryData [protected] |
Odomety Data
Definition at line 155 of file BehaviorControl.h.
Referenced by KickLogger::execute(), and GT2004BasicBehaviorGoaliePosition::execute().
Messages to teammates
Definition at line 193 of file BehaviorControl.h.
Referenced by CollectedBeliefs::broadcast(), GT2004BasicBehaviorDogAsJoystick::execute(), GT2004BasicBehaviorMoveTheBridge::execute(), GT2004BehaviorControl::postExecute(), GT2004BehaviorControl::preExecute(), GT2004StrategySymbols::registerSymbols(), OpenChallengeSymbols::setOCStatus(), and GT2004StrategySymbols::update().
const PlayerPoseCollection& BehaviorControlInterfaces::playerPoseCollection [protected] |
The positions of the own and opponent players
Definition at line 134 of file BehaviorControl.h.
Referenced by AngleSymbols::calculateCombinedAngles(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), and GT2004StrategySymbols::getAngleToTeammate().
const PSDPercept& BehaviorControlInterfaces::psdPercept [protected] |
The PSDPercept
Definition at line 164 of file BehaviorControl.h.
Referenced by OpenChallengeSymbols::getDistanceToSIFOC().
const RobotPose& BehaviorControlInterfaces::robotPose [protected] |
The robots position and orientation
Definition at line 128 of file BehaviorControl.h.
Referenced by MathFunctions::angleTo(), AngleSymbols::calculateCombinedAngles(), AngleSymbols::calculateLocalisationBasedAngles(), ChallengeSymbols::challenge2ShortestPath(), GT2004StrategySymbols::computeRole(), MathFunctions::distanceTo(), AngleSymbols::drawAngleShownByLeds(), KickLogger::execute(), GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute(), GT2004BasicBehaviorGoForwardToPoint::execute(), GT2004BasicBehaviorTurnAroundPoint::execute(), GT2004BasicBehaviorGoaliePositionReturn::execute(), GT2004BasicBehaviorGoaliePosition::execute(), GT2004BasicBehaviorGoToBallWithoutTurning::execute(), GT2004BasicBehaviorGoToBall::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), RobotPoseSymbols::getAngle(), RobotPoseSymbols::getAngleToBorder(), RobotPoseSymbols::getDistanceToOpponentGoal(), RobotPoseSymbols::getDistanceToOwnGoal(), RobotPoseSymbols::getDistanceToOwnPenaltyArea(), BallSymbols::getKnownAngle(), BallSymbols::getKnownDistance(), BallSymbols::getSeenAngle(), BallSymbols::getSeenDistance(), BallSymbols::getSeenDistanceX(), BallSymbols::getSeenDistanceY(), BallSymbols::getSeenRelativeSpeedX(), BallSymbols::getSeenRelativeSpeedY(), RobotPoseSymbols::registerSymbols(), KickSelectionSymbols::retrieveKick(), GT2004ConfigurationSymbols::update(), EvolutionSymbols::update(), ObstaclesSymbols::update(), BallSymbols::update(), and RobotPoseSymbols::updateGoalieDefendPosition().
const RobotState& BehaviorControlInterfaces::robotState [protected] |
Pressed switches and fall downs
Definition at line 140 of file BehaviorControl.h.
Referenced by GT2004BasicBehaviorEvolveOmniParameters::execute(), RobotStateSymbols::getAnyBackButtonPressedForOneSecond(), RobotStateSymbols::getAnyBackButtonPressedShortAndReleased(), ObstaclesSymbols::getCollisionAggregate(), ObstaclesSymbols::getCollisionFrontLeft(), ObstaclesSymbols::getCollisionFrontRight(), ObstaclesSymbols::getCollisionHead(), ObstaclesSymbols::getCollisionHindLeft(), ObstaclesSymbols::getCollisionHindRight(), ObstaclesSymbols::getCollisionSide(), ObstaclesSymbols::getConsecutiveCollisionTimeAggregate(), ObstaclesSymbols::getConsecutiveCollisionTimeFrontLeft(), ObstaclesSymbols::getConsecutiveCollisionTimeFrontRight(), ObstaclesSymbols::getConsecutiveCollisionTimeHead(), ObstaclesSymbols::getConsecutiveCollisionTimeHindLeft(), ObstaclesSymbols::getConsecutiveCollisionTimeHindRight(), RobotStateSymbols::getDistanceToSIFOC(), RobotStateSymbols::getForeBackButtonPressedShort(), RobotStateSymbols::getForeBackButtonPressedShortAndReleased(), RobotStateSymbols::getHeadButtonPressedForThreeSeconds(), RobotStateSymbols::getHeadButtonPressedShort(), RobotStateSymbols::getHeadButtonPressedShortAndReleased(), RobotStateSymbols::getHindBackButtonPressedShort(), RobotStateSymbols::getHindBackButtonPressedShortAndReleased(), RobotStateSymbols::getMiddleBackButtonPressedShort(), RobotStateSymbols::getMiddleBackButtonPressedShortAndReleased(), RobotStateSymbols::getMouthState(), RobotStateSymbols::getSomethingInFrontOfChest(), RobotStateSymbols::getTimeSinceSomethingWasInFrontOfChest(), and GT2004BehaviorControl::postExecute().
const SampleSetProxy<PoseSample>& BehaviorControlInterfaces::selfLocatorSamples [protected] |
The sample set proxy linked to the sample set of the active locator
Definition at line 158 of file BehaviorControl.h.
const SensorDataBuffer& BehaviorControlInterfaces::sensorDataBuffer [protected] |
The sensor data
Definition at line 161 of file BehaviorControl.h.
Referenced by GT2004BasicBehaviorDogAsJoystick::execute(), RobotStateSymbols::getBallUnderHead(), OpenChallengeSymbols::getSensorAccelerationX(), OpenChallengeSymbols::getSensorAccelerationY(), OpenChallengeSymbols::getSensorAccelerationZ(), OpenChallengeSymbols::getSensorPSDFar(), OpenChallengeSymbols::getSensorPSDNear(), GT2004BehaviorControl::postExecute(), and OpenChallengeSymbols::update().
SLAMData& BehaviorControlInterfaces::slamData [protected] |
SLAM challenge control symbols (phase & positions
Definition at line 125 of file BehaviorControl.h.
Referenced by GT2004BehaviorControl::execute(), and SLAMSymbols::registerSymbols().
SoundRequest& BehaviorControlInterfaces::soundRequest [protected] |
The acoustic message to be set by the behavior
Definition at line 179 of file BehaviorControl.h.
Referenced by GT2004BehaviorControl::postExecute(), and LEDAndSoundSymbols::registerSymbols().
const SpecialPercept& BehaviorControlInterfaces::specialPercept [protected] |
Special percepts for challenges
Definition at line 146 of file BehaviorControl.h.
Referenced by SpecialVisionSymbols::getBarCodeValue(), OpenChallengeSymbols::getBitePointPosition(), OpenChallengeSymbols::getLastSeenSide(), OpenChallengeSymbols::getPreciseShiftToBitePoint(), OpenChallengeSymbols::getRampAngleOfRedLine(), OpenChallengeSymbols::getRampDistanceToStartPoint(), OpenChallengeSymbols::getRampHighestLinePointX(), OpenChallengeSymbols::getRampHighestLinePointY(), OpenChallengeSymbols::getRampLowestLinePointX(), OpenChallengeSymbols::getRampLowestLinePointY(), OpenChallengeSymbols::getRampTimeSinceLastSeen(), OpenChallengeSymbols::getSeenAngleToBitePoint(), OpenChallengeSymbols::getSeenAngleToBridge(), OpenChallengeSymbols::getSeenDistanceToBitePoint(), OpenChallengeSymbols::getSeenDistanceToBridge(), OpenChallengeSymbols::getSeenDistanceToRedLine(), SpecialVisionSymbols::getShutterSelected(), OpenChallengeSymbols::getTimeSinceLastSeenBitePoint(), OpenChallengeSymbols::getTimeSinceLastSeenBridge(), OpenChallengeSymbols::getTimeSinceLastSeenRedLine(), OpenChallengeSymbols::redLineAngle(), OpenChallengeSymbols::redLineInImageAngle(), and SpecialVisionSymbols::registerSymbols().
A request for special vision modules for challenges
Definition at line 187 of file BehaviorControl.h.
Referenced by SpecialVisionSymbols::registerSymbols().
TaskVisionData& BehaviorControlInterfaces::taskVisionData [protected] |
for Switching Image Processor and SL arguments
Definition at line 122 of file BehaviorControl.h.
Referenced by TaskVisionSymbols::registerSymbols().
const TeamMessageCollection& BehaviorControlInterfaces::teamMessageCollection [protected] |
Messages from teammates
Definition at line 149 of file BehaviorControl.h.
Referenced by GT2004StrategySymbols::computeRole(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), RobotPoseSymbols::getDefensiveSupporterRobotPoseY(), RobotPoseSymbols::getStrikerRobotPoseY(), CollectedBeliefs::update(), and OpenChallengeSymbols::update().
unsigned long& BehaviorControlInterfaces::walkParameterTimeStamp [protected] |
Definition at line 184 of file BehaviorControl.h.
Referenced by GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), and GT2004BehaviorControl::handleMessage().