GT2004HeadControlSymbols Class Reference

#include <GT2004HeadControlSymbols.h>

Inheritance diagram for GT2004HeadControlSymbols:

Xabsl2FunctionProvider HeadControlInterfaces List of all members.

Public Member Functions

 GT2004HeadControlSymbols (const HeadControlInterfaces &interfaces, GT2004HeadControl &headControl, GT2004BasicBehaviorDirectedScanForLandmarks &gt2004BasicBehaviorDirectedScanForLandmarks)
void registerSymbols (Xabsl2Engine &engine)
void update ()
Input symbols
double getPositionInWalkCycle ()
double getBallTimeSinceLastSeen ()
double getTimeSinceLastSeenConsecutively ()
double getBallConsecutivelySeenTime ()
double getCommunicatedBallDistance ()
double getRelativeBallSpeedX ()
double getRelativeBallSpeedY ()
double getBallSpeedAbs ()
double getSeenDistance ()
double getTimeSinceLastSeenABeacon ()
double getTimeBetweenSeen2LastBeacons ()
bool getBodyPSDDetectBall ()
bool getLastHeadPathIsFinished ()
bool getSetJointsIsCloseToDestination ()
bool getSetJointsMaxPanReached ()
bool getNextLandmarkIsWithinReach ()
bool getReleasingBallLeftIsPossible ()
bool getReleasingBallRightIsPossible ()

Private Attributes

GT2004HeadControlheadControl
GT2004BasicBehaviorDirectedScanForLandmarksgt2004BasicBehaviorDirectedScanForLandmarks
int lastSeenBeaconIndex

Detailed Description

The Xabsl2 symbols that are defined in "symbols.xml"

Author:
Martin Lötzsch

Definition at line 26 of file GT2004HeadControlSymbols.h.


Constructor & Destructor Documentation

GT2004HeadControlSymbols::GT2004HeadControlSymbols ( const HeadControlInterfaces interfaces,
GT2004HeadControl headControl,
GT2004BasicBehaviorDirectedScanForLandmarks gt2004BasicBehaviorDirectedScanForLandmarks 
)

Definition at line 11 of file GT2004HeadControlSymbols.cpp.

References lastSeenBeaconIndex.


Member Function Documentation

double GT2004HeadControlSymbols::getBallConsecutivelySeenTime (  ) 

A function for the symbol "ball.consecutive-seen-time"

Definition at line 101 of file GT2004HeadControlSymbols.cpp.

References HeadControlInterfaces::ballModel, BallModel::seen, SeenBallPosition::timeUntilSeenConsecutively, and SeenBallPosition::timeWhenFirstSeenConsecutively.

Referenced by registerSymbols().

double GT2004HeadControlSymbols::getBallSpeedAbs (  ) 

A function for the symbol "ball.speed-abs"

Definition at line 134 of file GT2004HeadControlSymbols.cpp.

References Vector2< V >::abs(), HeadControlInterfaces::ballModel, BallModel::seen, and SeenBallPosition::speed.

Referenced by registerSymbols().

double GT2004HeadControlSymbols::getBallTimeSinceLastSeen (  ) 

A function for the symbol "ball.time-since-last-seen"

Definition at line 96 of file GT2004HeadControlSymbols.cpp.

References HeadControlInterfaces::ballModel, SystemCall::getTimeSince(), BallModel::seen, and SeenBallPosition::timeWhenLastSeen.

Referenced by registerSymbols().

bool GT2004HeadControlSymbols::getBodyPSDDetectBall (  ) 

A function for the symbol "body-PSD-detect-ball"

Definition at line 149 of file GT2004HeadControlSymbols.cpp.

References RobotState::getSomethingInFrontOfChest(), and HeadControlInterfaces::robotState.

Referenced by registerSymbols().

double GT2004HeadControlSymbols::getCommunicatedBallDistance (  ) 

A function for the symbol "ball.communicated-ball-distance"

Definition at line 117 of file GT2004HeadControlSymbols.cpp.

References HeadControlInterfaces::ballModel, BallModel::communicated, HeadControlInterfaces::robotPose, and Pose2D::translation.

Referenced by registerSymbols().

bool GT2004HeadControlSymbols::getLastHeadPathIsFinished (  ) 

A function for the symbol "last-head-path-is-finished"

Definition at line 154 of file GT2004HeadControlSymbols.cpp.

References headControl, GT2004HeadControl::headPathPlanner, and GT2004HeadPathPlanner::isLastPathFinished().

Referenced by registerSymbols().

bool GT2004HeadControlSymbols::getNextLandmarkIsWithinReach (  ) 

A function for the symbol "next-landmark-is-within-reach"

Definition at line 169 of file GT2004HeadControlSymbols.cpp.

References gt2004BasicBehaviorDirectedScanForLandmarks, and GT2004BasicBehaviorDirectedScanForLandmarks::nextLandmarkIsWithinReach.

Referenced by registerSymbols().

double GT2004HeadControlSymbols::getPositionInWalkCycle (  ) 

A function for the symbol "position-in-walk-cycle"

Definition at line 188 of file GT2004HeadControlSymbols.cpp.

References HeadControlInterfaces::motionInfo, and MotionInfo::positionInWalkCycle.

Referenced by registerSymbols().

double GT2004HeadControlSymbols::getRelativeBallSpeedX (  ) 

A function for the symbol "ball.relative-speed-x"

Definition at line 122 of file GT2004HeadControlSymbols.cpp.

References HeadControlInterfaces::ballModel, HeadControlInterfaces::robotPose, Pose2D::rotation, BallModel::seen, SeenBallPosition::speed, Vector2< V >::x, and Vector2< V >::y.

Referenced by registerSymbols().

double GT2004HeadControlSymbols::getRelativeBallSpeedY (  ) 

A function for the symbol "ball.relative-speed-y"

Definition at line 128 of file GT2004HeadControlSymbols.cpp.

References HeadControlInterfaces::ballModel, HeadControlInterfaces::robotPose, Pose2D::rotation, BallModel::seen, SeenBallPosition::speed, Vector2< V >::x, and Vector2< V >::y.

Referenced by registerSymbols().

bool GT2004HeadControlSymbols::getReleasingBallLeftIsPossible (  ) 

A function for the symbol "releasing-ball-left-is-possible"

Definition at line 174 of file GT2004HeadControlSymbols.cpp.

References HeadControlInterfaces::motionInfo, and MotionInfo::positionInWalkCycle.

Referenced by registerSymbols().

bool GT2004HeadControlSymbols::getReleasingBallRightIsPossible (  ) 

A function for the symbol "releasing-ball-right-is-possible"

Definition at line 181 of file GT2004HeadControlSymbols.cpp.

References HeadControlInterfaces::motionInfo, and MotionInfo::positionInWalkCycle.

Referenced by registerSymbols().

double GT2004HeadControlSymbols::getSeenDistance (  ) 

A function for the symbol "ball.seen.distance"

Definition at line 112 of file GT2004HeadControlSymbols.cpp.

References HeadControlInterfaces::ballModel, Geometry::distanceTo(), RobotPose::getPose(), HeadControlInterfaces::robotPose, and BallModel::seen.

Referenced by registerSymbols().

bool GT2004HeadControlSymbols::getSetJointsIsCloseToDestination (  ) 

A function for the symbol "set-joints-is-close-to-destination"

Definition at line 159 of file GT2004HeadControlSymbols.cpp.

References headControl, and GT2004HeadControl::setJointsIsCloseToDestination.

Referenced by registerSymbols().

bool GT2004HeadControlSymbols::getSetJointsMaxPanReached (  ) 

A function for the symbol "set-joints-max-pan-reached"

Definition at line 164 of file GT2004HeadControlSymbols.cpp.

References headControl, and GT2004HeadControl::setJointsMaxPanReached.

Referenced by registerSymbols().

double GT2004HeadControlSymbols::getTimeBetweenSeen2LastBeacons (  ) 

A function for the symbol "time-between-last-beacons"

Definition at line 144 of file GT2004HeadControlSymbols.cpp.

References GT2004HeadControl::getTimeBetweenSeen2LastBeacons(), headControl, and lastSeenBeaconIndex.

Referenced by registerSymbols().

double GT2004HeadControlSymbols::getTimeSinceLastSeenABeacon (  ) 

A function for the symbol "time-since-last-seen-beacon"

Definition at line 139 of file GT2004HeadControlSymbols.cpp.

References GT2004HeadControl::getTimeOfLastSeenBeacon(), SystemCall::getTimeSince(), headControl, and lastSeenBeaconIndex.

Referenced by registerSymbols().

double GT2004HeadControlSymbols::getTimeSinceLastSeenConsecutively (  ) 

A function for the symbol "ball.time-since-last-seen-consecutively"

Definition at line 107 of file GT2004HeadControlSymbols.cpp.

References HeadControlInterfaces::ballModel, SystemCall::getTimeSince(), BallModel::seen, and SeenBallPosition::timeUntilSeenConsecutively.

Referenced by registerSymbols().

void GT2004HeadControlSymbols::registerSymbols ( Xabsl2Engine engine  ) 

registers the symbols at an engine

Definition at line 20 of file GT2004HeadControlSymbols.cpp.

References HeadControlMode::catchBall, getBallConsecutivelySeenTime(), getBallSpeedAbs(), getBallTimeSinceLastSeen(), getBodyPSDDetectBall(), getCommunicatedBallDistance(), getLastHeadPathIsFinished(), getNextLandmarkIsWithinReach(), getPositionInWalkCycle(), getRelativeBallSpeedX(), getRelativeBallSpeedY(), getReleasingBallLeftIsPossible(), getReleasingBallRightIsPossible(), getSeenDistance(), getSetJointsIsCloseToDestination(), getSetJointsMaxPanReached(), getTimeBetweenSeen2LastBeacons(), getTimeSinceLastSeenABeacon(), getTimeSinceLastSeenConsecutively(), HeadControlMode::headControlMode, HeadControlInterfaces::headControlMode, HeadControlInterfaces::headIsBlockedBySpecialActionOrWalk, Xabsl2Symbols::registerBooleanInputSymbol(), Xabsl2Symbols::registerDecimalInputSymbol(), Xabsl2Symbols::registerEnumeratedInputSymbol(), Xabsl2Symbols::registerEnumeratedInputSymbolEnumElement(), HeadControlMode::releaseCaughtBallWhenTurningLeft, HeadControlMode::releaseCaughtBallWhenTurningRight, HeadControlMode::searchAuto, HeadControlMode::searchForBall, HeadControlMode::searchForBallLeft, and HeadControlMode::searchForBallRight.

Referenced by GT2004HeadControl::registerSymbolsAndBasicBehaviors().

void GT2004HeadControlSymbols::update (  ) 

updates the symbols

Definition at line 89 of file GT2004HeadControlSymbols.cpp.

References GT2004HeadControl::getLastSeenBeaconIndex(), headControl, and lastSeenBeaconIndex.

Referenced by GT2004HeadControl::execute().


Member Data Documentation

GT2004BasicBehaviorDirectedScanForLandmarks& GT2004HeadControlSymbols::gt2004BasicBehaviorDirectedScanForLandmarks [private]

Definition at line 69 of file GT2004HeadControlSymbols.h.

Referenced by getNextLandmarkIsWithinReach().

GT2004HeadControl& GT2004HeadControlSymbols::headControl [private]

A reference to the HeadControl module

Definition at line 68 of file GT2004HeadControlSymbols.h.

Referenced by getLastHeadPathIsFinished(), getSetJointsIsCloseToDestination(), getSetJointsMaxPanReached(), getTimeBetweenSeen2LastBeacons(), getTimeSinceLastSeenABeacon(), and update().

int GT2004HeadControlSymbols::lastSeenBeaconIndex [private]

Definition at line 71 of file GT2004HeadControlSymbols.h.

Referenced by getTimeBetweenSeen2LastBeacons(), getTimeSinceLastSeenABeacon(), GT2004HeadControlSymbols(), and update().


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:34:36 2006 for DT2005.panorama by  doxygen 1.4.7