GT2004RobotStateDetector Class Reference

#include <GT2004RobotStateDetector.h>

Inheritance diagram for GT2004RobotStateDetector:

RobotStateDetector Module RobotStateDetectorInterfaces RobotDimensions MessageHandler List of all members.

Public Member Functions

 GT2004RobotStateDetector (const RobotStateDetectorInterfaces &interfaces)
virtual void execute ()

Private Types

 middle = 0
 left
 right
 robotSides
 maxFrameHistory = 200
enum  { middle = 0, left, right, robotSides }
enum  { maxFrameHistory = 200 }

Private Member Functions

void calculateCollisionState ()
void setNewButtonStatus ()
int getCollisionSide ()
void setCollisionOnLeftSide (bool collision)
void setCollisionOnRightSide (bool collision)

Private Attributes

bool switchDown [BodyPercept::numOfSwitches]
long switchDownTime [BodyPercept::numOfSwitches]
long timeSinceLastCollision [6]
long consecutiveCollisionTime [6]
long remindCollision
bool numOfCollisions [maxFrameHistory][robotSides]
bool buttonPressed [BodyPercept::numOfSwitches]
long buttonTime [BodyPercept::numOfSwitches]
long buttonPressedTime [BodyPercept::numOfSwitches]
long buttonDuration [BodyPercept::numOfSwitches]
bool anyBackButtonPressed
long anyBackButtonTime
long anyBackButtonPressedTime
long anyBackButtonDuration

Detailed Description

Definition at line 23 of file GT2004RobotStateDetector.h.


Member Enumeration Documentation

anonymous enum [private]

Enumerator:
middle 
left 
right 
robotSides 

Definition at line 50 of file GT2004RobotStateDetector.h.

anonymous enum [private]

Enumerator:
maxFrameHistory 

Definition at line 55 of file GT2004RobotStateDetector.h.


Constructor & Destructor Documentation

GT2004RobotStateDetector::GT2004RobotStateDetector ( const RobotStateDetectorInterfaces interfaces  ) 

Constructor.

Parameters:
interfaces The paramters of the RobotStateDetector module.

Definition at line 12 of file GT2004RobotStateDetector.cpp.

References anyBackButtonDuration, anyBackButtonPressed, anyBackButtonPressedTime, anyBackButtonTime, buttonDuration, buttonPressed, buttonPressedTime, buttonTime, consecutiveCollisionTime, maxFrameHistory, numOfCollisions, BodyPercept::numOfSwitches, remindCollision, robotSides, setNewButtonStatus(), switchDown, and timeSinceLastCollision.


Member Function Documentation

void GT2004RobotStateDetector::calculateCollisionState (  )  [private]

Definition at line 169 of file GT2004RobotStateDetector.cpp.

References RobotStateDetectorInterfaces::collisionPercept, consecutiveCollisionTime, CollisionPercept::getCollisionAggregate(), CollisionPercept::getCollisionFrontLeft(), CollisionPercept::getCollisionFrontRight(), CollisionPercept::getCollisionHead(), CollisionPercept::getCollisionHindLeft(), CollisionPercept::getCollisionHindRight(), getCollisionSide(), SystemCall::getCurrentSystemTime(), remindCollision, RobotStateDetectorInterfaces::robotState, RobotState::setCollisionAggregate(), RobotState::setCollisionFrontLeft(), RobotState::setCollisionFrontRight(), RobotState::setCollisionHead(), RobotState::setCollisionHindLeft(), RobotState::setCollisionHindRight(), setCollisionOnLeftSide(), setCollisionOnRightSide(), RobotState::setCollisionSide(), RobotState::setConsecutiveCollisionTimeAggregate(), RobotState::setConsecutiveCollisionTimeFrontLeft(), RobotState::setConsecutiveCollisionTimeFrontRight(), RobotState::setConsecutiveCollisionTimeHead(), RobotState::setConsecutiveCollisionTimeHindLeft(), RobotState::setConsecutiveCollisionTimeHindRight(), and timeSinceLastCollision.

Referenced by execute().

void GT2004RobotStateDetector::execute (  )  [virtual]

Executes the module

Implements Module.

Definition at line 51 of file GT2004RobotStateDetector.cpp.

References BodyPercept::acceleration, RobotState::acceleration, anyBackButtonDuration, anyBackButtonPressed, anyBackButtonPressedTime, anyBackButtonTime, BodyPercept::backBack, BodyPercept::backFront, BodyPercept::backMiddle, RobotStateDetectorInterfaces::bodyPercept, buttonDuration, buttonPressed, buttonPressedTime, buttonTime, calculateCollisionState(), BodyPercept::frameNumber, BodyPercept::getBodyPSDDistance(), BodyPercept::getBodyPSDHighValue(), SystemCall::getCurrentSystemTime(), BodyPercept::getMouthState(), BodyPercept::getState(), BodyPercept::getSwitches(), SystemCall::getTimeSince(), BodyPercept::numOfSwitches, RobotStateDetectorInterfaces::robotState, RobotState::setDistanceToSIFOC(), RobotState::setFrameNumber(), RobotState::setMouthState(), setNewButtonStatus(), RobotState::setSomethingInFrontOfChest(), RobotState::setState(), RobotState::setTimeWhenSomethingWasInFrontOfChestLast(), switchDown, and switchDownTime.

int GT2004RobotStateDetector::getCollisionSide (  )  [private]

Did collision occur at front left leg

Definition at line 311 of file GT2004RobotStateDetector.cpp.

References left, maxFrameHistory, middle, numOfCollisions, and right.

Referenced by calculateCollisionState().

void GT2004RobotStateDetector::setCollisionOnLeftSide ( bool  collision  )  [private]

Definition at line 327 of file GT2004RobotStateDetector.cpp.

References RobotStateDetectorInterfaces::collisionPercept, CollisionPercept::frameNumber, left, maxFrameHistory, and numOfCollisions.

Referenced by calculateCollisionState().

void GT2004RobotStateDetector::setCollisionOnRightSide ( bool  collision  )  [private]

Definition at line 332 of file GT2004RobotStateDetector.cpp.

References RobotStateDetectorInterfaces::collisionPercept, CollisionPercept::frameNumber, maxFrameHistory, numOfCollisions, and right.

Referenced by calculateCollisionState().

void GT2004RobotStateDetector::setNewButtonStatus (  )  [private]

Definition at line 157 of file GT2004RobotStateDetector.cpp.

References anyBackButtonDuration, anyBackButtonPressed, anyBackButtonPressedTime, anyBackButtonTime, buttonDuration, buttonPressed, buttonPressedTime, buttonTime, RobotStateDetectorInterfaces::robotState, RobotState::setAnyBackButtonDuration(), RobotState::setAnyBackButtonPressed(), RobotState::setAnyBackButtonPressedTime(), RobotState::setAnyBackButtonTime(), RobotState::setButtonDuration(), RobotState::setButtonPressed(), RobotState::setButtonPressedTime(), and RobotState::setButtonTime().

Referenced by execute(), and GT2004RobotStateDetector().


Member Data Documentation

long GT2004RobotStateDetector::anyBackButtonDuration [private]

Definition at line 68 of file GT2004RobotStateDetector.h.

Referenced by execute(), GT2004RobotStateDetector(), and setNewButtonStatus().

bool GT2004RobotStateDetector::anyBackButtonPressed [private]

Definition at line 65 of file GT2004RobotStateDetector.h.

Referenced by execute(), GT2004RobotStateDetector(), and setNewButtonStatus().

long GT2004RobotStateDetector::anyBackButtonPressedTime [private]

Definition at line 67 of file GT2004RobotStateDetector.h.

Referenced by execute(), GT2004RobotStateDetector(), and setNewButtonStatus().

long GT2004RobotStateDetector::anyBackButtonTime [private]

Definition at line 66 of file GT2004RobotStateDetector.h.

Referenced by execute(), GT2004RobotStateDetector(), and setNewButtonStatus().

long GT2004RobotStateDetector::buttonDuration[BodyPercept::numOfSwitches] [private]

Definition at line 64 of file GT2004RobotStateDetector.h.

Referenced by execute(), GT2004RobotStateDetector(), and setNewButtonStatus().

bool GT2004RobotStateDetector::buttonPressed[BodyPercept::numOfSwitches] [private]

Definition at line 61 of file GT2004RobotStateDetector.h.

Referenced by execute(), GT2004RobotStateDetector(), and setNewButtonStatus().

long GT2004RobotStateDetector::buttonPressedTime[BodyPercept::numOfSwitches] [private]

Definition at line 63 of file GT2004RobotStateDetector.h.

Referenced by execute(), GT2004RobotStateDetector(), and setNewButtonStatus().

long GT2004RobotStateDetector::buttonTime[BodyPercept::numOfSwitches] [private]

Definition at line 62 of file GT2004RobotStateDetector.h.

Referenced by execute(), GT2004RobotStateDetector(), and setNewButtonStatus().

long GT2004RobotStateDetector::consecutiveCollisionTime[6] [private]

Definition at line 44 of file GT2004RobotStateDetector.h.

Referenced by calculateCollisionState(), and GT2004RobotStateDetector().

bool GT2004RobotStateDetector::numOfCollisions[maxFrameHistory][robotSides] [private]

Definition at line 57 of file GT2004RobotStateDetector.h.

Referenced by getCollisionSide(), GT2004RobotStateDetector(), setCollisionOnLeftSide(), and setCollisionOnRightSide().

long GT2004RobotStateDetector::remindCollision [private]

Definition at line 45 of file GT2004RobotStateDetector.h.

Referenced by calculateCollisionState(), and GT2004RobotStateDetector().

bool GT2004RobotStateDetector::switchDown[BodyPercept::numOfSwitches] [private]

Definition at line 41 of file GT2004RobotStateDetector.h.

Referenced by execute(), and GT2004RobotStateDetector().

long GT2004RobotStateDetector::switchDownTime[BodyPercept::numOfSwitches] [private]

Definition at line 42 of file GT2004RobotStateDetector.h.

Referenced by execute().

long GT2004RobotStateDetector::timeSinceLastCollision[6] [private]

Definition at line 43 of file GT2004RobotStateDetector.h.

Referenced by calculateCollisionState(), and GT2004RobotStateDetector().


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:35:49 2006 for DT2005.panorama by  doxygen 1.4.7