#include <Cognition.h>
Inheritance diagram for Cognition:
Definition at line 65 of file Cognition.h.
Cognition::Cognition | ( | ) |
constructor
Definition at line 28 of file Cognition.cpp.
References ballPercept, bodyPercept, bodyPosture, calibrationRequest, cameraMatrix, CLUSTERS, collisionPercept, colorTable, Process::debugIn, Process::debugOut, edgesPercept, frameNumber, getLocation(), goalLinesPercept, idText, infile, joystickData, landmarksPercept, lastFrameNumber, linesPercept, Process::moduleHandler, obstaclesPercept, OPTIMIZATIONS, outgoingBehaviorTeamMessage, pBallLocator, pBehaviorControl, pCollisionDetector, pColorTableMod, pImageProcessor, PLAIN_COLORS_ONLY, playersPercept, pObstaclesLocator, pPlayersLocator, pRobotStateDetector, psdPercept, pSelfLocator, pSensorBehaviorControl, pSensorDataProcessor, pSpecialVision, pTeamBallLocator, SCANNING_X, SCANNING_Y, SECTORS, selfLocatorSamples, TeamMessageCollection::setInTeamMessages(), TeamMessageCollection::setOutTeamMessages(), MessageQueue::setSize(), slamData, specialPercept, specialVisionRequest, taskVisionData, teamMessageCollection, text, and TEXTLOG.
Cognition::~Cognition | ( | ) |
destructor
Definition at line 224 of file Cognition.cpp.
References pBallLocator, pBehaviorControl, pCollisionDetector, pColorTableMod, pImageProcessor, pObstaclesLocator, pPlayersLocator, pRobotStateDetector, pSelfLocator, pSensorBehaviorControl, pSensorDataProcessor, pSpecialVision, and pTeamBallLocator.
bool Cognition::handleMessage | ( | InMessage & | message | ) | [virtual] |
The function handles incoming debug messages.
message | the message to handle |
Reimplemented from Process.
Definition at line 413 of file Cognition.cpp.
References ballPercept, InMessage::bin, ColorTableTSL::calculateLUT(), cameraMatrix, Sensors::cameraParameters, collisionPercept, colorTableBuffer, d, Process::debugOut, edgesPercept, CameraMatrix::frameNumber, InMessage::getMessageID(), getPlayer(), getRobotConfiguration(), Process::handleMessage(), RobotConfiguration::handleMessage(), ModuleSelector::handleMessage(), idBodyOffsets, idCameraParameters, idColorTable64, idColorTableTSL, idFreezeRequest, idGameControlData, idGenericDebugData, idGlobalGameControlData, idGT2004EvolutionRequest, idGT2004Parameters, idHeadControlMode, idImage, idJoystickData, idJPEGImage, idKickSelectionTable, idLEDRequest, idLinesSelfLocatorParameters, idLowResImage, idMotionRequest, idOracledWorldState, idPercepts, idSensorData, idSoundRequest, idSpecialPercept, idTacticEntryArray, idText, idWorldState, idXabsl2DebugRequest, joystickData, landmarksPercept, linesPercept, obstaclesPercept, OUTPUT, pBehaviorControl, pImageProcessor, playersPercept, processImage, processPercepts, processSensorData, psdPercept, pSelfLocator, RECEIVE_IMAGE, RECEIVE_PERCEPTS, RECEIVE_WORLDSTATE, Sensors::setCameraParameters(), TeamMessageCollection::setDelay(), specialPercept, teamMessageCollection, GenericDebugData::teamMessageSendDelay, text, and JPEGImage::toImage().
void Cognition::init | ( | ) | [virtual] |
is called direct before the first call of main()
Reimplemented from Process.
Definition at line 393 of file Cognition.cpp.
References getPlayer(), Player::getPlayerNumberName(), SystemCall::getRemainingPower(), getRobotConfiguration(), Player::getTeamColorName(), idText, OUTPUT, and text.
int Cognition::main | ( | ) | [virtual] |
is called from the framework once in every frame
The frameNumber
Implements Process.
Definition at line 242 of file Cognition.cpp.
References ballPercept, cameraMatrix, collisionPercept, edgesPercept, Module::execute(), ModuleSelector::execute(), frameNumber, SystemCall::getCurrentSystemTime(), getPlayer(), Player::getPlayerNumberName(), SystemCall::getRemainingPower(), Player::getTeamColor(), Player::getTeamColorName(), SystemCall::getTimeSince(), idImage, idJPEGImage, idLowResImage, idOdometryData, idPercepts, idSensorData, idText, idWorldState, ifdef(), INFO, landmarksPercept, lastFrameNumber, linesPercept, obstaclesPercept, outgoingBehaviorTeamMessage, OUTPUT, pBallLocator, pBehaviorControl, pCollisionDetector, pImageProcessor, playersPercept, pObstaclesLocator, pPlayersLocator, pRobotStateDetector, processImage, TeamMessageCollection::processMessages(), TeamMessageCollection::processOutMessages(), processPercepts, processSensorData, psdPercept, pSelfLocator, pSensorBehaviorControl, pSensorDataProcessor, pSpecialVision, pTeamBallLocator, TeamMessageCollection::send(), SEND_IMAGE, SEND_PERCEPTS, SEND_WORLD_STATE, STOP_TIME_ON_REQUEST, teamMessageCollection, text, and WATCH.
Cognition::NET_RECEIVER | ( | TeamMessage3 | ) | [private] |
Cognition::NET_RECEIVER | ( | TeamMessage2 | ) | [private] |
Cognition::NET_RECEIVER | ( | TeamMessage1 | ) | [private] |
Cognition::NET_SENDER | ( | TeamMessage3 | ) | [private] |
Cognition::NET_SENDER | ( | TeamMessage2 | ) | [private] |
Cognition::NET_SENDER | ( | TeamMessage1 | ) | [private] |
Cognition::RECEIVER | ( | OdometryData | ) | [private] |
Cognition::RECEIVER | ( | PackageMotionCognition | ) | [private] |
Cognition::RECEIVER | ( | GameControlData | ) | [private] |
Cognition::RECEIVER | ( | Image | ) | [private] |
Cognition::RECEIVER | ( | SensorDataBuffer | ) | [private] |
Cognition::SENDER | ( | PackageCognitionMotion | ) | [private] |
BallPercept Cognition::ballPercept [protected] |
Detected balls
Definition at line 187 of file Cognition.h.
Referenced by Cognition(), handleMessage(), and main().
BodyPercept Cognition::bodyPercept [protected] |
BodyPosture Cognition::bodyPosture [protected] |
The height and the inclination of the robot's body
Definition at line 211 of file Cognition.h.
Referenced by Cognition().
CalibrationRequest Cognition::calibrationRequest [protected] |
CameraMatrix Cognition::cameraMatrix [protected] |
The offset and rotation of the camera
Definition at line 181 of file Cognition.h.
Referenced by Cognition(), handleMessage(), and main().
CollisionPercept Cognition::collisionPercept [protected] |
The collision percept
Definition at line 196 of file Cognition.h.
Referenced by Cognition(), handleMessage(), and main().
ColorTable& Cognition::colorTable [protected] |
char Cognition::colorTableBuffer[sizeof(ColorTable64) > sizeof(ColorTableTSL)?sizeof(ColorTable64) > sizeof(ColorTable32K)?sizeof(ColorTable64):sizeof(ColorTable32K):sizeof(ColorTableTSL) > sizeof(ColorTable32K)?sizeof(ColorTableTSL):sizeof(ColorTable32K)] [protected] |
Cognition::DEBUGGING [private] |
Definition at line 68 of file Cognition.h.
EdgesPercept Cognition::edgesPercept [protected] |
Detected edges
Definition at line 205 of file Cognition.h.
Referenced by Cognition(), handleMessage(), and main().
unsigned long Cognition::frameNumber [protected] |
GoalLinesPercept Cognition::goalLinesPercept [protected] |
JoystickData Cognition::joystickData [protected] |
Data produced by an extern sensor called joystick
Definition at line 235 of file Cognition.h.
Referenced by Cognition(), and handleMessage().
LandmarksPercept Cognition::landmarksPercept [protected] |
Detected landmarks
Definition at line 184 of file Cognition.h.
Referenced by Cognition(), handleMessage(), and main().
unsigned long Cognition::lastFrameNumber [protected] |
LinesPercept Cognition::linesPercept [protected] |
Detected lines
Definition at line 199 of file Cognition.h.
Referenced by Cognition(), handleMessage(), and main().
ObstaclesPercept Cognition::obstaclesPercept [protected] |
Detected obstacles
Definition at line 193 of file Cognition.h.
Referenced by Cognition(), handleMessage(), and main().
The outgoing behavior team message
Definition at line 232 of file Cognition.h.
Referenced by Cognition(), and main().
BallLocatorSelector* Cognition::pBallLocator [protected] |
a reference to the ball-locator
Definition at line 137 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().
BehaviorControlSelector* Cognition::pBehaviorControl [protected] |
a reference to the behavior control
Definition at line 152 of file Cognition.h.
Referenced by Cognition(), handleMessage(), main(), and ~Cognition().
CollisionDetectorSelector* Cognition::pCollisionDetector [protected] |
a reference to the collision detector
Definition at line 131 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().
ColorTableModSelector* Cognition::pColorTableMod [protected] |
a reference to the colortable selector
Definition at line 122 of file Cognition.h.
Referenced by Cognition(), and ~Cognition().
ImageProcessorSelector* Cognition::pImageProcessor [protected] |
a reference to the image processor
Definition at line 125 of file Cognition.h.
Referenced by Cognition(), handleMessage(), main(), and ~Cognition().
PlayersPercept Cognition::playersPercept [protected] |
Detected players
Definition at line 190 of file Cognition.h.
Referenced by Cognition(), handleMessage(), and main().
ObstaclesLocatorSelector* Cognition::pObstaclesLocator [protected] |
a reference to the obstacles-locator
Definition at line 146 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().
PlayersLocatorSelector* Cognition::pPlayersLocator [protected] |
a reference to the players-locator
Definition at line 143 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().
RobotStateDetectorSelector* Cognition::pRobotStateDetector [protected] |
a reference to the robot state detector
Definition at line 134 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().
bool Cognition::processImage [protected] |
If true, then a new image was received in the current frame
Definition at line 110 of file Cognition.h.
Referenced by handleMessage(), and main().
bool Cognition::processPercepts [protected] |
If true, then percepts were received or generated in the current frame
Definition at line 116 of file Cognition.h.
Referenced by handleMessage(), and main().
bool Cognition::processSensorData [protected] |
If true, then new sensor data were received in the current frame
Definition at line 113 of file Cognition.h.
Referenced by handleMessage(), and main().
PSDPercept Cognition::psdPercept [protected] |
A spot relative to the robot that was detected by the PSD sensor
Definition at line 214 of file Cognition.h.
Referenced by Cognition(), handleMessage(), and main().
SelfLocatorSelector* Cognition::pSelfLocator [protected] |
a reference to the self-locator
Definition at line 149 of file Cognition.h.
Referenced by Cognition(), handleMessage(), main(), and ~Cognition().
a reference to sensor based behavior control
Definition at line 155 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().
a reference to the sensor data processor
Definition at line 128 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().
SpecialVision* Cognition::pSpecialVision [protected] |
a reference to the special vison module
Definition at line 158 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().
TeamBallLocatorSelector* Cognition::pTeamBallLocator [protected] |
a reference to the team ball locator
Definition at line 140 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().
SampleSetProxy<PoseSample> Cognition::selfLocatorSamples [protected] |
The sample set proxy linked to the sample set of the active locator
Definition at line 226 of file Cognition.h.
Referenced by Cognition().
SLAMData Cognition::slamData [protected] |
SpecialPercept Cognition::specialPercept [protected] |
A special percept
Definition at line 217 of file Cognition.h.
Referenced by Cognition(), and handleMessage().
SpecialVisionRequest Cognition::specialVisionRequest [protected] |
The request for the specialVision module
Definition at line 220 of file Cognition.h.
Referenced by Cognition().
TaskVisionData Cognition::taskVisionData [protected] |
controlls the state of taskImageProcessing and selflocalisation
Definition at line 175 of file Cognition.h.
Referenced by Cognition().
The team message collection
Definition at line 229 of file Cognition.h.
Referenced by Cognition(), handleMessage(), and main().
Cognition::UDP_HANDLER [private] |
Definition at line 86 of file Cognition.h.