#include <GT2004SimpleBasicBehaviors.h>
Inheritance diagram for GT2004BasicBehaviorGoaliePositionReturn:
Public Member Functions | |
GT2004BasicBehaviorGoaliePositionReturn (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler) | |
virtual void | execute () |
Protected Attributes | |
double | x |
double | y |
double | destinationAngle |
double | maxSpeed |
WalkAccelerationRestrictor | accelerationRestrictor |
Definition at line 293 of file GT2004SimpleBasicBehaviors.h.
GT2004BasicBehaviorGoaliePositionReturn::GT2004BasicBehaviorGoaliePositionReturn | ( | BehaviorControlInterfaces & | interfaces, | |
Xabsl2ErrorHandler & | errorHandler | |||
) | [inline] |
Definition at line 301 of file GT2004SimpleBasicBehaviors.h.
References destinationAngle, maxSpeed, Xabsl2BasicBehavior::registerParameter(), x, and y.
void GT2004BasicBehaviorGoaliePositionReturn::execute | ( | ) | [virtual] |
Executes the basic behavior.
Implements Xabsl2BasicBehavior.
Definition at line 257 of file GT2004SimpleBasicBehaviors.cpp.
References accelerationRestrictor, Geometry::angleTo(), destinationAngle, Geometry::distanceTo(), fromDegrees(), maxSpeed, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, WalkRequest::normal, normalize(), WalkAccelerationRestrictor::restrictAccelerations(), BehaviorControlInterfaces::robotPose, Pose2D::rotation, WalkAccelerationRestrictor::saveLastWalkParameters(), MotionRequest::stand, toDegrees(), Pose2D::translation, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< V >::x, x, Vector2< V >::y, and y.
WalkAccelerationRestrictor GT2004BasicBehaviorGoaliePositionReturn::accelerationRestrictor [protected] |
Restricts the walk acceleration to maximum values
Definition at line 330 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute().
double GT2004BasicBehaviorGoaliePositionReturn::destinationAngle [protected] |
parameter "goalie-position.destination-angle"
Definition at line 324 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoaliePositionReturn().
double GT2004BasicBehaviorGoaliePositionReturn::maxSpeed [protected] |
parameter "goalie-position.max-speed"
Definition at line 327 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoaliePositionReturn().
double GT2004BasicBehaviorGoaliePositionReturn::x [protected] |
parameter "goalie-position.x"
Definition at line 318 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoaliePositionReturn().
double GT2004BasicBehaviorGoaliePositionReturn::y [protected] |
parameter "goalie-position.y"
Definition at line 321 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoaliePositionReturn().