#include <GT2004SimpleBasicBehaviors.h>
Inheritance diagram for GT2004BasicBehaviorTurnAroundPoint:
Public Member Functions | |
GT2004BasicBehaviorTurnAroundPoint (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler) | |
virtual void | execute () |
Protected Attributes | |
double | x |
double | y |
double | radius |
double | leftRight |
double | forwardComponent |
WalkAccelerationRestrictor | accelerationRestrictor |
Definition at line 199 of file GT2004SimpleBasicBehaviors.h.
GT2004BasicBehaviorTurnAroundPoint::GT2004BasicBehaviorTurnAroundPoint | ( | BehaviorControlInterfaces & | interfaces, | |
Xabsl2ErrorHandler & | errorHandler | |||
) | [inline] |
Definition at line 207 of file GT2004SimpleBasicBehaviors.h.
References forwardComponent, leftRight, radius, Xabsl2BasicBehavior::registerParameter(), x, and y.
void GT2004BasicBehaviorTurnAroundPoint::execute | ( | ) | [virtual] |
Executes the basic behavior.
Implements Xabsl2BasicBehavior.
Definition at line 313 of file GT2004SimpleBasicBehaviors.cpp.
References Geometry::angleTo(), distance(), Geometry::distanceTo(), forwardComponent, fromDegrees(), RobotPose::getPose(), leftRight, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, WalkRequest::normal, pi, radius, Range< T >::Range(), BehaviorControlInterfaces::robotPose, Pose2D::rotation, Pose2D::translation, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< V >::x, x, Vector2< V >::y, and y.
Restricts the walk acceleration to maximum values
Definition at line 240 of file GT2004SimpleBasicBehaviors.h.
double GT2004BasicBehaviorTurnAroundPoint::forwardComponent [protected] |
parameter "go-to-point.forward-component"
Definition at line 237 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorTurnAroundPoint().
double GT2004BasicBehaviorTurnAroundPoint::leftRight [protected] |
parameter "go-to-point.left-right"
Definition at line 234 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorTurnAroundPoint().
double GT2004BasicBehaviorTurnAroundPoint::radius [protected] |
parameter "turn-around-point.radius"
Definition at line 231 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorTurnAroundPoint().
double GT2004BasicBehaviorTurnAroundPoint::x [protected] |
parameter "turn-around-point.x"
Definition at line 225 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorTurnAroundPoint().
double GT2004BasicBehaviorTurnAroundPoint::y [protected] |
parameter "turn-around-point.y"
Definition at line 228 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorTurnAroundPoint().