GT2004BasicBehaviorGoaliePosition Class Reference

#include <GT2004SimpleBasicBehaviors.h>

Inheritance diagram for GT2004BasicBehaviorGoaliePosition:

Xabsl2BasicBehavior BehaviorControlInterfaces Xabsl2NamedItem List of all members.

Public Member Functions

 GT2004BasicBehaviorGoaliePosition (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void execute ()

Protected Attributes

double maxSpeed
double minXTrans
double minYTrans
double weightPose
double weightOdo
double cutY
double guardDirectToGoal
double guardLine
Pose2D lastRobotPose
Pose2D lastOdometry
Pose2D goaliePose
Pose2D lastGoaliePose

Detailed Description

A goalie positioning approach from Benjamin

Definition at line 244 of file GT2004SimpleBasicBehaviors.h.


Constructor & Destructor Documentation

GT2004BasicBehaviorGoaliePosition::GT2004BasicBehaviorGoaliePosition ( BehaviorControlInterfaces interfaces,
Xabsl2ErrorHandler errorHandler 
) [inline]

Definition at line 252 of file GT2004SimpleBasicBehaviors.h.

References cutY, guardDirectToGoal, guardLine, maxSpeed, minXTrans, minYTrans, Xabsl2BasicBehavior::registerParameter(), weightOdo, and weightPose.


Member Function Documentation

void GT2004BasicBehaviorGoaliePosition::execute (  )  [virtual]

Executes the basic behavior.

Implements Xabsl2BasicBehavior.

Definition at line 134 of file GT2004SimpleBasicBehaviors.cpp.

References abs(), Geometry::angleTo(), ARROW, BehaviorControlInterfaces::ballModel, Xabsl2BasicBehavior::basicBehaviorWasActiveDuringLastExecutionOfEngine, BallModel::behaviorControlTimeAfterWhichCommunicatedBallsAreAccepted, Drawings::blue, CIRCLE, cutY, DEBUG_DRAWING_FINISHED, BallModel::getKnownPosition(), goaliePose, Drawings::gray, guardDirectToGoal, guardLine, lastGoaliePose, lastOdometry, lastRobotPose, LINE, max, maxSpeed, min, minXTrans, minYTrans, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, Xabsl2NamedItem::n, WalkRequest::normal, Vector2< V >::normalize(), BehaviorControlInterfaces::odometryData, Drawings::red, BehaviorControlInterfaces::robotPose, Pose2D::rotation, MotionRequest::stand, Pose2D::translation, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, weightOdo, weightPose, Vector2< V >::x, Vector2< V >::y, and Drawings::yellow.


Member Data Documentation

double GT2004BasicBehaviorGoaliePosition::cutY [protected]

Definition at line 277 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().

Pose2D GT2004BasicBehaviorGoaliePosition::goaliePose [protected]

Definition at line 283 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorGoaliePosition::guardDirectToGoal [protected]

Definition at line 278 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().

double GT2004BasicBehaviorGoaliePosition::guardLine [protected]

Definition at line 279 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().

Pose2D GT2004BasicBehaviorGoaliePosition::lastGoaliePose [protected]

Definition at line 284 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute().

Pose2D GT2004BasicBehaviorGoaliePosition::lastOdometry [protected]

Definition at line 282 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute().

Pose2D GT2004BasicBehaviorGoaliePosition::lastRobotPose [protected]

Definition at line 281 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorGoaliePosition::maxSpeed [protected]

Definition at line 272 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().

double GT2004BasicBehaviorGoaliePosition::minXTrans [protected]

Definition at line 273 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().

double GT2004BasicBehaviorGoaliePosition::minYTrans [protected]

Definition at line 274 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().

double GT2004BasicBehaviorGoaliePosition::weightOdo [protected]

Definition at line 276 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().

double GT2004BasicBehaviorGoaliePosition::weightPose [protected]

Definition at line 275 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:33:09 2006 for DT2005.panorama by  doxygen 1.4.7