#include <HeadControl.h>
Inheritance diagram for HeadControlInterfaces:
Definition at line 49 of file HeadControl.h.
HeadControlInterfaces::HeadControlInterfaces | ( | const unsigned long & | frameNumber, | |
const SensorDataBuffer & | sensorDataBuffer, | |||
const CameraMatrix & | cameraMatrix, | |||
const OdometryData & | currentOdometryData, | |||
const BodyPosture & | bodyPosture, | |||
const BallModel & | ballModel, | |||
const RobotPose & | robotPose, | |||
const LandmarksState & | landmarksState, | |||
const RobotState & | robotState, | |||
const MotionInfo & | motionInfo, | |||
const HeadControlMode & | headControlMode, | |||
const bool | headIsBlockedBySpecialActionOrWalk, | |||
HeadMotionRequest & | headMotionRequest, | |||
PIDData & | pidData | |||
) | [inline] |
Constructor.
Definition at line 53 of file HeadControl.h.
const BallModel& HeadControlInterfaces::ballModel [protected] |
The position and the speed of the ball
Definition at line 103 of file HeadControl.h.
Referenced by GT2004HeadControlSymbols::getBallConsecutivelySeenTime(), GT2004HeadControlSymbols::getBallSpeedAbs(), GT2004HeadControlSymbols::getBallTimeSinceLastSeen(), GT2004HeadControlSymbols::getCommunicatedBallDistance(), GT2004HeadControlSymbols::getRelativeBallSpeedX(), GT2004HeadControlSymbols::getRelativeBallSpeedY(), GT2004HeadControlSymbols::getSeenDistance(), and GT2004HeadControlSymbols::getTimeSinceLastSeenConsecutively().
const BodyPosture& HeadControlInterfaces::bodyPosture [protected] |
The neck height and body tilt
Definition at line 109 of file HeadControl.h.
Referenced by GT2004HeadControl::simpleLookAtPointRelativeToRobot().
const CameraMatrix& HeadControlInterfaces::cameraMatrix [protected] |
The position and rotation of the camera relative to the robot
Definition at line 97 of file HeadControl.h.
const OdometryData& HeadControlInterfaces::currentOdometryData [protected] |
The odometry of the last Motion frame
Definition at line 100 of file HeadControl.h.
Referenced by GT2004HeadControl::setJoints().
const unsigned long& HeadControlInterfaces::frameNumber [protected] |
A reference to the frame number
Definition at line 88 of file HeadControl.h.
const HeadControlMode& HeadControlInterfaces::headControlMode [protected] |
A modus from the behavior how to move the head
Definition at line 91 of file HeadControl.h.
Referenced by GT2004HeadControl::execute(), and GT2004HeadControlSymbols::registerSymbols().
const bool HeadControlInterfaces::headIsBlockedBySpecialActionOrWalk [protected] |
Specifies if the head is blocked by a special action or walk.
Definition at line 124 of file HeadControl.h.
Referenced by GT2004HeadControl::execute(), and GT2004HeadControlSymbols::registerSymbols().
Head joint angles that have to be set.
Definition at line 127 of file HeadControl.h.
Referenced by Xabsl2HeadControl::executeIfEngineCouldNotBeCreated(), Xabsl2HeadControl::printGeneratedMainActionToString(), GT2004HeadControl::setJoints(), and GT2004HeadControl::setJointsDirect().
const LandmarksState& HeadControlInterfaces::landmarksState [protected] |
the currently seen landmarks
Definition at line 118 of file HeadControl.h.
Referenced by GT2004HeadControl::getLastSeenBeaconIndex(), GT2004HeadControl::getTimeBetweenSeen2LastBeacons(), and GT2004HeadControl::getTimeOfLastSeenBeacon().
const MotionInfo& HeadControlInterfaces::motionInfo [protected] |
information about the executed motions
Definition at line 115 of file HeadControl.h.
Referenced by GT2004HeadControlSymbols::getPositionInWalkCycle(), GT2004HeadControlSymbols::getReleasingBallLeftIsPossible(), and GT2004HeadControlSymbols::getReleasingBallRightIsPossible().
const MotionRequest& HeadControlInterfaces::motionRequest [protected] |
motionRequest that is currently executed
Definition at line 112 of file HeadControl.h.
PIDData& HeadControlInterfaces::pidData [protected] |
PID servo gains
Definition at line 130 of file HeadControl.h.
const RobotPose& HeadControlInterfaces::robotPose [protected] |
The robots current position and orientation
Definition at line 94 of file HeadControl.h.
Referenced by GT2004HeadControl::beginBallSearchAt(), GT2004HeadControl::calculateClosestLandmark(), GT2004BasicBehaviorDirectedScanForLandmarks::execute(), GT2004HeadControlSymbols::getCommunicatedBallDistance(), GT2004HeadControl::getLookAtBallAngles(), GT2004HeadControlSymbols::getRelativeBallSpeedX(), GT2004HeadControlSymbols::getRelativeBallSpeedY(), GT2004HeadControlSymbols::getSeenDistance(), GT2004HeadControl::setJoints(), and GT2004HeadControl::simpleLookAtPointOnField().
const RobotState& HeadControlInterfaces::robotState [protected] |
The current state of the robot
Definition at line 121 of file HeadControl.h.
Referenced by GT2004HeadControl::execute(), and GT2004HeadControlSymbols::getBodyPSDDetectBall().
const SensorDataBuffer& HeadControlInterfaces::sensorDataBuffer [protected] |
The current body sensor data
Definition at line 106 of file HeadControl.h.
Referenced by GT2004HeadControl::execute(), GT2004HeadControl::getSensorHeadAngles(), GT2004HeadControl::GT2004HeadControl(), GT2004HeadControl::headPanIsLeft(), and GT2004HeadControl::headPositionDistanceToActualPosition().