#include <GT2004SimpleBasicBehaviors.h>
Inheritance diagram for GT2004BasicBehaviorGoToPointAndAvoidObstacles:
Public Member Functions | |
GT2004BasicBehaviorGoToPointAndAvoidObstacles (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler) | |
virtual void | execute () |
Private Attributes | |
double | x |
double | y |
double | maxSpeed |
double | avoidanceLevel |
PIDsmoothedValue | turnSpeed |
PIDsmoothedValue | speedX |
PIDsmoothedValue | speedY |
long | lastTimeExecuted |
Definition at line 378 of file GT2004SimpleBasicBehaviors.h.
GT2004BasicBehaviorGoToPointAndAvoidObstacles::GT2004BasicBehaviorGoToPointAndAvoidObstacles | ( | BehaviorControlInterfaces & | interfaces, | |
Xabsl2ErrorHandler & | errorHandler | |||
) | [inline] |
Definition at line 386 of file GT2004SimpleBasicBehaviors.h.
References avoidanceLevel, maxSpeed, Xabsl2BasicBehavior::registerParameter(), x, and y.
void GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute | ( | ) | [virtual] |
Executes the basic behavior.
Implements Xabsl2BasicBehavior.
Definition at line 386 of file GT2004SimpleBasicBehaviors.cpp.
References Geometry::angleTo(), PIDsmoothedValue::approximateVal(), Geometry::distanceTo(), ObstaclesModel::getAngleOfNextFreeSector(), SystemCall::getCurrentSystemTime(), ObstaclesModel::getDistanceInCorridor(), RobotPose::getPose(), SystemCall::getTimeSince(), ObstaclesModel::getTotalFreeSpaceInSector(), lastTimeExecuted, maxSpeed, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, WalkRequest::normal, BehaviorControlInterfaces::obstaclesModel, pi, Range< T >::Range(), PIDsmoothedValue::resetTo(), BehaviorControlInterfaces::robotPose, Pose2D::rotation, speedX, speedY, MotionRequest::stand, Pose2D::translation, turnSpeed, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< V >::x, x, Vector2< V >::y, and y.
double GT2004BasicBehaviorGoToPointAndAvoidObstacles::avoidanceLevel [private] |
parameter "go-to-point-and-avoid-obstacles.avoid-penalty-areas"
Definition at line 414 of file GT2004SimpleBasicBehaviors.h.
Referenced by GT2004BasicBehaviorGoToPointAndAvoidObstacles().
last time behavior was executed
Definition at line 426 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute().
double GT2004BasicBehaviorGoToPointAndAvoidObstacles::maxSpeed [private] |
parameter "go-to-point-and-avoid-obstacles.max-speed"
Definition at line 411 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToPointAndAvoidObstacles().
smoothes the speed in forward direction
Definition at line 420 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute().
smoothes the speed in sideways direction
Definition at line 423 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute().
smoothes the rotation
Definition at line 417 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute().
double GT2004BasicBehaviorGoToPointAndAvoidObstacles::x [private] |
parameter "go-to-point-and-avoid-obstacles.x"
Definition at line 405 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToPointAndAvoidObstacles().
double GT2004BasicBehaviorGoToPointAndAvoidObstacles::y [private] |
parameter "go-to-point-and-avoid-obstacles.y"
Definition at line 408 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToPointAndAvoidObstacles().