#include <GT2004SimpleBasicBehaviors.h>
Inheritance diagram for GT2004BasicBehaviorGoToBallWithoutTurning:
Public Member Functions | |
GT2004BasicBehaviorGoToBallWithoutTurning (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler) | |
virtual void | execute () |
Private Attributes | |
double | distanceAtEnd |
double | maxSpeed |
double | maxSpeedY |
WalkAccelerationRestrictor | accelerationRestrictor |
double | targetAngleToBall |
double | yOffset |
double | walkType |
double | maxTurnSpeed |
Matthias Jüngel
Definition at line 86 of file GT2004SimpleBasicBehaviors.h.
GT2004BasicBehaviorGoToBallWithoutTurning::GT2004BasicBehaviorGoToBallWithoutTurning | ( | BehaviorControlInterfaces & | interfaces, | |
Xabsl2ErrorHandler & | errorHandler | |||
) | [inline] |
Definition at line 94 of file GT2004SimpleBasicBehaviors.h.
References maxSpeed, and Xabsl2BasicBehavior::registerParameter().
void GT2004BasicBehaviorGoToBallWithoutTurning::execute | ( | ) | [virtual] |
Executes the basic behavior.
Implements Xabsl2BasicBehavior.
Definition at line 110 of file GT2004SimpleBasicBehaviors.cpp.
References Geometry::angleTo(), BehaviorControlInterfaces::ballModel, BallModel::behaviorControlTimeAfterWhichCommunicatedBallsAreAccepted, Geometry::distanceTo(), BallModel::getKnownPosition(), RobotPose::getPose(), maxSpeed, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, WalkRequest::normal, BehaviorControlInterfaces::robotPose, Pose2D::rotation, Pose2D::translation, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< V >::x, and Vector2< V >::y.
WalkAccelerationRestrictor GT2004BasicBehaviorGoToBallWithoutTurning::accelerationRestrictor [private] |
Restricts the walk acceleration to maximum values
Definition at line 117 of file GT2004SimpleBasicBehaviors.h.
double GT2004BasicBehaviorGoToBallWithoutTurning::distanceAtEnd [private] |
parameter "go-to-ball.distance"
Definition at line 108 of file GT2004SimpleBasicBehaviors.h.
double GT2004BasicBehaviorGoToBallWithoutTurning::maxSpeed [private] |
parameter "go-to-ball.max-speed"
Definition at line 111 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToBallWithoutTurning().
double GT2004BasicBehaviorGoToBallWithoutTurning::maxSpeedY [private] |
parameter "go-to-ball.max-speed.y"
Definition at line 114 of file GT2004SimpleBasicBehaviors.h.
double GT2004BasicBehaviorGoToBallWithoutTurning::maxTurnSpeed [private] |
parameter "max-turn-speed"
Definition at line 129 of file GT2004SimpleBasicBehaviors.h.
double GT2004BasicBehaviorGoToBallWithoutTurning::targetAngleToBall [private] |
parameter "go-to-ball.target-angle-to-ball"
Definition at line 120 of file GT2004SimpleBasicBehaviors.h.
double GT2004BasicBehaviorGoToBallWithoutTurning::walkType [private] |
parameter "walk-type"
Definition at line 126 of file GT2004SimpleBasicBehaviors.h.
double GT2004BasicBehaviorGoToBallWithoutTurning::yOffset [private] |
parameter "go-to-ball.y-offset"
Definition at line 123 of file GT2004SimpleBasicBehaviors.h.