#include <GT2004SimpleBasicBehaviors.h>
Inheritance diagram for GT2004BasicBehaviorGoForwardToPoint:
Public Member Functions | |
GT2004BasicBehaviorGoForwardToPoint (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler) | |
virtual void | execute () |
Protected Attributes | |
double | x |
double | y |
double | maxSpeed |
WalkAccelerationRestrictor | accelerationRestrictor |
Martin Lötzsch
Definition at line 338 of file GT2004SimpleBasicBehaviors.h.
GT2004BasicBehaviorGoForwardToPoint::GT2004BasicBehaviorGoForwardToPoint | ( | BehaviorControlInterfaces & | interfaces, | |
Xabsl2ErrorHandler & | errorHandler | |||
) | [inline] |
Definition at line 346 of file GT2004SimpleBasicBehaviors.h.
References maxSpeed, Xabsl2BasicBehavior::registerParameter(), x, and y.
void GT2004BasicBehaviorGoForwardToPoint::execute | ( | ) | [virtual] |
Executes the basic behavior.
Implements Xabsl2BasicBehavior.
Definition at line 353 of file GT2004SimpleBasicBehaviors.cpp.
References accelerationRestrictor, Geometry::angleTo(), fromDegrees(), maxSpeed, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, WalkRequest::normal, WalkAccelerationRestrictor::restrictAccelerations(), BehaviorControlInterfaces::robotPose, Pose2D::rotation, WalkAccelerationRestrictor::saveLastWalkParameters(), 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 371 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute().
double GT2004BasicBehaviorGoForwardToPoint::maxSpeed [protected] |
parameter "go-forward-to-point.max-speed"
Definition at line 368 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoForwardToPoint().
double GT2004BasicBehaviorGoForwardToPoint::x [protected] |
parameter "go-forward-to-point.x"
Definition at line 362 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoForwardToPoint().
double GT2004BasicBehaviorGoForwardToPoint::y [protected] |
parameter "go-forward-to-point.y"
Definition at line 365 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoForwardToPoint().