GT2004BasicBehaviorTurnAroundPoint Class Reference

#include <GT2004SimpleBasicBehaviors.h>

Inheritance diagram for GT2004BasicBehaviorTurnAroundPoint:

Xabsl2BasicBehavior BehaviorControlInterfaces Xabsl2NamedItem List of all members.

Public Member Functions

 GT2004BasicBehaviorTurnAroundPoint (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void execute ()

Protected Attributes

double x
double y
double radius
double leftRight
double forwardComponent
WalkAccelerationRestrictor accelerationRestrictor

Detailed Description

A Basic Behavior for going turning around a point on the field
Author:
Jan Hoffmann

Definition at line 199 of file GT2004SimpleBasicBehaviors.h.


Constructor & Destructor Documentation

GT2004BasicBehaviorTurnAroundPoint::GT2004BasicBehaviorTurnAroundPoint ( BehaviorControlInterfaces interfaces,
Xabsl2ErrorHandler errorHandler 
) [inline]

Definition at line 207 of file GT2004SimpleBasicBehaviors.h.

References forwardComponent, leftRight, radius, Xabsl2BasicBehavior::registerParameter(), x, and y.


Member Function Documentation

void GT2004BasicBehaviorTurnAroundPoint::execute (  )  [virtual]

Executes the basic behavior.

Implements Xabsl2BasicBehavior.

Definition at line 313 of file GT2004SimpleBasicBehaviors.cpp.

References Geometry::angleTo(), distance(), Geometry::distanceTo(), forwardComponent, fromDegrees(), RobotPose::getPose(), leftRight, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, WalkRequest::normal, pi, radius, Range< T >::Range(), BehaviorControlInterfaces::robotPose, Pose2D::rotation, Pose2D::translation, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< V >::x, x, Vector2< V >::y, and y.


Member Data Documentation

WalkAccelerationRestrictor GT2004BasicBehaviorTurnAroundPoint::accelerationRestrictor [protected]

Restricts the walk acceleration to maximum values

Definition at line 240 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorTurnAroundPoint::forwardComponent [protected]

parameter "go-to-point.forward-component"

Definition at line 237 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorTurnAroundPoint().

double GT2004BasicBehaviorTurnAroundPoint::leftRight [protected]

parameter "go-to-point.left-right"

Definition at line 234 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorTurnAroundPoint().

double GT2004BasicBehaviorTurnAroundPoint::radius [protected]

parameter "turn-around-point.radius"

Definition at line 231 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorTurnAroundPoint().

double GT2004BasicBehaviorTurnAroundPoint::x [protected]

parameter "turn-around-point.x"

Definition at line 225 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorTurnAroundPoint().

double GT2004BasicBehaviorTurnAroundPoint::y [protected]

parameter "turn-around-point.y"

Definition at line 228 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorTurnAroundPoint().


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:33:32 2006 for DT2005.panorama by  doxygen 1.4.7