GT2004BasicBehaviorGoToBallWithoutTurning Class Reference

#include <GT2004SimpleBasicBehaviors.h>

Inheritance diagram for GT2004BasicBehaviorGoToBallWithoutTurning:

Xabsl2BasicBehavior BehaviorControlInterfaces Xabsl2NamedItem List of all members.

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

Detailed Description

A Basic Behavior for clearing the ball
Author:
Michael Spranger

Matthias Jüngel

Definition at line 86 of file GT2004SimpleBasicBehaviors.h.


Constructor & Destructor Documentation

GT2004BasicBehaviorGoToBallWithoutTurning::GT2004BasicBehaviorGoToBallWithoutTurning ( BehaviorControlInterfaces interfaces,
Xabsl2ErrorHandler errorHandler 
) [inline]

Definition at line 94 of file GT2004SimpleBasicBehaviors.h.

References maxSpeed, and Xabsl2BasicBehavior::registerParameter().


Member Function Documentation

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.


Member Data Documentation

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.


The documentation for this class was generated from the following files:
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