GT2004BasicBehaviorEvolveOmniParameters Class Reference

#include <GT2004EvolutionBasicBehaviors.h>

Inheritance diagram for GT2004BasicBehaviorEvolveOmniParameters:

Xabsl2BasicBehavior BehaviorControlInterfaces Xabsl2NamedItem List of all members.

Public Member Functions

 GT2004BasicBehaviorEvolveOmniParameters (const BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler, GT2004ParametersSet &gt2004ParametersSet, Pose2D *gt2004ParametersCalibration, int &gt2004CurrentIndex, Pose2D &measurementRequest, int &evolutionMode)
virtual void execute ()

Private Attributes

Population< GT2004Parameters, 10 > ftPopulation
Population< GT2004Parameters, 10 > bPopulation
double mode
int lastMode
ForwardTurningParcour forwardTurningParcour
SimpleBackwardParcour simpleBackwardParcour
PIDsmoothedValue motionRequestX
PIDsmoothedValue motionRequestY
PIDsmoothedValue motionRequestR
GT2004ParametersSetgt2004ParametersSet
Pose2Dgt2004ParametersCalibration
int & gt2004CurrentIndex
Pose2DmeasurementRequest
int & evolutionMode

Detailed Description

A BasicBehavior for walking forward or backward following a certain parcour as well as changing walking parameters according to the fitness measured in the last parcour walk This Basic Behavior needs a walking engine that does not switch parameters according to the MotionRequest (like InvKin:GT2003 and GT2004), but a non-switching one (like InvKin:FF)
Author:
Uwe Düffert

Definition at line 139 of file GT2004EvolutionBasicBehaviors.h.


Constructor & Destructor Documentation

GT2004BasicBehaviorEvolveOmniParameters::GT2004BasicBehaviorEvolveOmniParameters ( const BehaviorControlInterfaces interfaces,
Xabsl2ErrorHandler errorHandler,
GT2004ParametersSet gt2004ParametersSet,
Pose2D gt2004ParametersCalibration,
int &  gt2004CurrentIndex,
Pose2D measurementRequest,
int &  evolutionMode 
) [inline]

Definition at line 147 of file GT2004EvolutionBasicBehaviors.h.

References bPopulation, InFile::exists(), ftPopulation, GT2004Parameters::index, Population< T, siz >::individual, mode, Individual::mutationOf(), and Xabsl2BasicBehavior::registerParameter().


Member Function Documentation

void GT2004BasicBehaviorEvolveOmniParameters::execute (  )  [virtual]

Executes the basic behavior.

Implements Xabsl2BasicBehavior.

Definition at line 27 of file GT2004EvolutionBasicBehaviors.cpp.

References RobotState::acceleration, Geometry::angleTo(), bPopulation, Geometry::distanceTo(), evolutionMode, Population< T, siz >::evolve(), Individual::fitness, forwardTurningParcour, fromDegrees(), ftPopulation, SystemCall::getCurrentSystemTime(), Parcour::getMotionRequest(), Population< T, siz >::getNextIndividualWithoutFitness(), Parcour::getUnifiedSpeed(), RobotPose::getValidity(), BehaviorControlInterfaces::gt2004Parameters, idGT2004Parameters, idInvKinWalkingParameters, idText, int(), BehaviorControlInterfaces::invKinWalkingParameters, lastMode, mode, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, WalkRequest::normal, normalize(), OUTPUT, Population< T, siz >::outputStatistics(), BehaviorControlInterfaces::robotPose, BehaviorControlInterfaces::robotState, Pose2D::rotation, simpleBackwardParcour, MotionRequest::stand, Parcour::start(), text, toDegrees(), Pose2D::translation, Parcour::update(), MotionRequest::updateRP, MotionRequest::walk, BehaviorControlInterfaces::walkParameterTimeStamp, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< V >::x, and Vector2< V >::y.


Member Data Documentation

Population<GT2004Parameters,10> GT2004BasicBehaviorEvolveOmniParameters::bPopulation [private]

Definition at line 202 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorEvolveOmniParameters().

int& GT2004BasicBehaviorEvolveOmniParameters::evolutionMode [private]

Definition at line 217 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

ForwardTurningParcour GT2004BasicBehaviorEvolveOmniParameters::forwardTurningParcour [private]

Definition at line 208 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

Population<GT2004Parameters,10> GT2004BasicBehaviorEvolveOmniParameters::ftPopulation [private]

a Polpulation of WalkingParameters

Definition at line 201 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorEvolveOmniParameters().

int& GT2004BasicBehaviorEvolveOmniParameters::gt2004CurrentIndex [private]

Definition at line 215 of file GT2004EvolutionBasicBehaviors.h.

Pose2D* GT2004BasicBehaviorEvolveOmniParameters::gt2004ParametersCalibration [private]

Definition at line 214 of file GT2004EvolutionBasicBehaviors.h.

GT2004ParametersSet& GT2004BasicBehaviorEvolveOmniParameters::gt2004ParametersSet [private]

GT2004 Evolution stuff

Definition at line 213 of file GT2004EvolutionBasicBehaviors.h.

int GT2004BasicBehaviorEvolveOmniParameters::lastMode [private]

Definition at line 206 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

Pose2D& GT2004BasicBehaviorEvolveOmniParameters::measurementRequest [private]

Definition at line 216 of file GT2004EvolutionBasicBehaviors.h.

double GT2004BasicBehaviorEvolveOmniParameters::mode [private]

specifies whether the robot should walk forward or backward or parameters should be changed

Definition at line 205 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorEvolveOmniParameters().

PIDsmoothedValue GT2004BasicBehaviorEvolveOmniParameters::motionRequestR [private]

Definition at line 210 of file GT2004EvolutionBasicBehaviors.h.

PIDsmoothedValue GT2004BasicBehaviorEvolveOmniParameters::motionRequestX [private]

Definition at line 210 of file GT2004EvolutionBasicBehaviors.h.

PIDsmoothedValue GT2004BasicBehaviorEvolveOmniParameters::motionRequestY [private]

Definition at line 210 of file GT2004EvolutionBasicBehaviors.h.

SimpleBackwardParcour GT2004BasicBehaviorEvolveOmniParameters::simpleBackwardParcour [private]

Definition at line 209 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().


The documentation for this class was generated from the following files:
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