GT2004BasicBehaviorMeasureGT2004ParametersBlind Class Reference

#include <GT2004EvolutionBasicBehaviors.h>

Inheritance diagram for GT2004BasicBehaviorMeasureGT2004ParametersBlind:

Xabsl2BasicBehavior BehaviorControlInterfaces Xabsl2NamedItem List of all members.

Public Member Functions

 GT2004BasicBehaviorMeasureGT2004ParametersBlind (const BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler, GT2004ParametersSet &gt2004ParametersSet, GT2004Parameters &gt2004ExtraParameters, Pose2D *gt2004ParametersCalibration, int &gt2004CurrentIndex, Pose2D &measurementRequest, int &evolutionMode)
virtual void execute ()

Private Attributes

unsigned long startFrameNumber
unsigned long lastFrameNumber
unsigned long clusterFrames
double x0
double y0
double r0
double t0
double lastRot
double lastTime
double firstNullTime
double lastNullTime
double nullTime
Pose2D speed
int clusterNumber
int goodFrames
double dr
double dx
double dy
GT2004ParametersSetgt2004ParametersSet
GT2004Parametersgt2004ExtraParameters
Pose2Dgt2004ParametersCalibration
int & gt2004CurrentIndex
Pose2DmeasurementRequest
int & evolutionMode

Detailed Description

A BasicBehavior for measuring and calibrating an the current GT2004Parameters while being partially blind (while turning)
Author:
Uwe Düffert

Definition at line 75 of file GT2004EvolutionBasicBehaviors.h.


Constructor & Destructor Documentation

GT2004BasicBehaviorMeasureGT2004ParametersBlind::GT2004BasicBehaviorMeasureGT2004ParametersBlind ( const BehaviorControlInterfaces interfaces,
Xabsl2ErrorHandler errorHandler,
GT2004ParametersSet gt2004ParametersSet,
GT2004Parameters gt2004ExtraParameters,
Pose2D gt2004ParametersCalibration,
int &  gt2004CurrentIndex,
Pose2D measurementRequest,
int &  evolutionMode 
) [inline]

Definition at line 83 of file GT2004EvolutionBasicBehaviors.h.


Member Function Documentation

void GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute (  )  [virtual]

Executes the basic behavior.

Implements Xabsl2BasicBehavior.

Definition at line 401 of file GT2004EvolutionBasicBehaviors.cpp.

References clusterFrames, clusterNumber, GT2004Parameters::correctedMotion, dr, dx, dy, evolutionMode, firstNullTime, RobotPose::frameNumber, SystemCall::getCurrentSystemTime(), GT2004ParametersSet::getIndexString(), GT2004ParametersSet::getParameters(), RobotPose::getValidity(), goodFrames, gt2004CurrentIndex, gt2004ExtraParameters, BehaviorControlInterfaces::gt2004Parameters, gt2004ParametersCalibration, gt2004ParametersSet, HeadControlMode::headControlMode, BehaviorControlInterfaces::headControlMode, idGT2004Parameters, idText, lastFrameNumber, lastNullTime, lastRot, lastTime, HeadControlMode::lookParallelToGround, measurementRequest, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, WalkRequest::normal, nullTime, GT2004ParametersSet::numberOfParameters, OUTPUT, pi, r0, BehaviorControlInterfaces::robotPose, Pose2D::rotation, speed, startFrameNumber, t0, text, Pose2D::translation, MotionRequest::walk, BehaviorControlInterfaces::walkParameterTimeStamp, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, HeadControlMode::watchOrigin, Vector2< V >::x, x0, Vector2< V >::y, and y0.


Member Data Documentation

unsigned long GT2004BasicBehaviorMeasureGT2004ParametersBlind::clusterFrames [private]

number of valid frames in current cluster

Definition at line 110 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

int GT2004BasicBehaviorMeasureGT2004ParametersBlind::clusterNumber [private]

Definition at line 119 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::dr [private]

Definition at line 121 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::dx [private]

Definition at line 121 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::dy [private]

Definition at line 121 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

int& GT2004BasicBehaviorMeasureGT2004ParametersBlind::evolutionMode [private]

Definition at line 129 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::firstNullTime [private]

Definition at line 115 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

int GT2004BasicBehaviorMeasureGT2004ParametersBlind::goodFrames [private]

Definition at line 120 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

int& GT2004BasicBehaviorMeasureGT2004ParametersBlind::gt2004CurrentIndex [private]

Definition at line 127 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

GT2004Parameters& GT2004BasicBehaviorMeasureGT2004ParametersBlind::gt2004ExtraParameters [private]

Definition at line 125 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

Pose2D* GT2004BasicBehaviorMeasureGT2004ParametersBlind::gt2004ParametersCalibration [private]

Definition at line 126 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

GT2004ParametersSet& GT2004BasicBehaviorMeasureGT2004ParametersBlind::gt2004ParametersSet [private]

GT2004 Evolution stuff

Definition at line 124 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

unsigned long GT2004BasicBehaviorMeasureGT2004ParametersBlind::lastFrameNumber [private]

robotPose frame number of last call of this beasic behavior in current measurement

Definition at line 108 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::lastNullTime [private]

Definition at line 116 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::lastRot [private]

Definition at line 113 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::lastTime [private]

Definition at line 114 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

Pose2D& GT2004BasicBehaviorMeasureGT2004ParametersBlind::measurementRequest [private]

Definition at line 128 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::nullTime [private]

Definition at line 117 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::r0 [private]

Definition at line 112 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

Pose2D GT2004BasicBehaviorMeasureGT2004ParametersBlind::speed [private]

Definition at line 118 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

unsigned long GT2004BasicBehaviorMeasureGT2004ParametersBlind::startFrameNumber [private]

robotPose frame number of first call of this beasic behavior in current measurement

Definition at line 106 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::t0 [private]

Definition at line 112 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::x0 [private]

local variables to store measurement start position

Definition at line 112 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::y0 [private]

Definition at line 112 of file GT2004EvolutionBasicBehaviors.h.

Referenced by execute().


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