#include <GT2004SimpleBasicBehaviors.h>
Inheritance diagram for GT2004BasicBehaviorGoaliePosition:
Public Member Functions | |
GT2004BasicBehaviorGoaliePosition (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler) | |
virtual void | execute () |
Protected Attributes | |
double | maxSpeed |
double | minXTrans |
double | minYTrans |
double | weightPose |
double | weightOdo |
double | cutY |
double | guardDirectToGoal |
double | guardLine |
Pose2D | lastRobotPose |
Pose2D | lastOdometry |
Pose2D | goaliePose |
Pose2D | lastGoaliePose |
Definition at line 244 of file GT2004SimpleBasicBehaviors.h.
GT2004BasicBehaviorGoaliePosition::GT2004BasicBehaviorGoaliePosition | ( | BehaviorControlInterfaces & | interfaces, | |
Xabsl2ErrorHandler & | errorHandler | |||
) | [inline] |
Definition at line 252 of file GT2004SimpleBasicBehaviors.h.
References cutY, guardDirectToGoal, guardLine, maxSpeed, minXTrans, minYTrans, Xabsl2BasicBehavior::registerParameter(), weightOdo, and weightPose.
void GT2004BasicBehaviorGoaliePosition::execute | ( | ) | [virtual] |
Executes the basic behavior.
Implements Xabsl2BasicBehavior.
Definition at line 134 of file GT2004SimpleBasicBehaviors.cpp.
References abs(), Geometry::angleTo(), ARROW, BehaviorControlInterfaces::ballModel, Xabsl2BasicBehavior::basicBehaviorWasActiveDuringLastExecutionOfEngine, BallModel::behaviorControlTimeAfterWhichCommunicatedBallsAreAccepted, Drawings::blue, CIRCLE, cutY, DEBUG_DRAWING_FINISHED, BallModel::getKnownPosition(), goaliePose, Drawings::gray, guardDirectToGoal, guardLine, lastGoaliePose, lastOdometry, lastRobotPose, LINE, max, maxSpeed, min, minXTrans, minYTrans, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, Xabsl2NamedItem::n, WalkRequest::normal, Vector2< V >::normalize(), BehaviorControlInterfaces::odometryData, Drawings::red, BehaviorControlInterfaces::robotPose, Pose2D::rotation, MotionRequest::stand, Pose2D::translation, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, weightOdo, weightPose, Vector2< V >::x, Vector2< V >::y, and Drawings::yellow.
double GT2004BasicBehaviorGoaliePosition::cutY [protected] |
Definition at line 277 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().
Pose2D GT2004BasicBehaviorGoaliePosition::goaliePose [protected] |
double GT2004BasicBehaviorGoaliePosition::guardDirectToGoal [protected] |
Definition at line 278 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().
double GT2004BasicBehaviorGoaliePosition::guardLine [protected] |
Definition at line 279 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().
double GT2004BasicBehaviorGoaliePosition::maxSpeed [protected] |
Definition at line 272 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().
double GT2004BasicBehaviorGoaliePosition::minXTrans [protected] |
Definition at line 273 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().
double GT2004BasicBehaviorGoaliePosition::minYTrans [protected] |
Definition at line 274 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().
double GT2004BasicBehaviorGoaliePosition::weightOdo [protected] |
Definition at line 276 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().
double GT2004BasicBehaviorGoaliePosition::weightPose [protected] |
Definition at line 275 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().