#include <GT2004SimpleBasicBehaviors.h>
Inheritance diagram for GT2004BasicBehaviorGoToBall:
Public Member Functions | |
GT2004BasicBehaviorGoToBall (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 |
Martin Lötzsch
Jan Hoffmann
Definition at line 29 of file GT2004SimpleBasicBehaviors.h.
GT2004BasicBehaviorGoToBall::GT2004BasicBehaviorGoToBall | ( | BehaviorControlInterfaces & | interfaces, | |
Xabsl2ErrorHandler & | errorHandler | |||
) | [inline] |
Definition at line 37 of file GT2004SimpleBasicBehaviors.h.
References distanceAtEnd, maxSpeed, maxSpeedY, maxTurnSpeed, Xabsl2BasicBehavior::registerParameter(), targetAngleToBall, walkType, and yOffset.
void GT2004BasicBehaviorGoToBall::execute | ( | ) | [virtual] |
Executes the basic behavior.
Implements Xabsl2BasicBehavior.
Definition at line 32 of file GT2004SimpleBasicBehaviors.cpp.
References Geometry::angleTo(), BehaviorControlInterfaces::ballModel, BallModel::behaviorControlTimeAfterWhichCommunicatedBallsAreAccepted, Geometry::distanceTo(), fromDegrees(), BallModel::getKnownPosition(), RobotPose::getPose(), max, maxSpeed, maxSpeedY, maxTurnSpeed, min, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, Vector2< V >::normalize(), pi, BehaviorControlInterfaces::robotPose, Pose2D::rotation, targetAngleToBall, Pose2D::translation, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, walkType, WalkRequest::walkType, Vector2< V >::x, Vector2< V >::y, and yOffset.
Restricts the walk acceleration to maximum values
Definition at line 66 of file GT2004SimpleBasicBehaviors.h.
double GT2004BasicBehaviorGoToBall::distanceAtEnd [private] |
parameter "go-to-ball.distance"
Definition at line 57 of file GT2004SimpleBasicBehaviors.h.
Referenced by GT2004BasicBehaviorGoToBall().
double GT2004BasicBehaviorGoToBall::maxSpeed [private] |
parameter "go-to-ball.max-speed"
Definition at line 60 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToBall().
double GT2004BasicBehaviorGoToBall::maxSpeedY [private] |
parameter "go-to-ball.max-speed.y"
Definition at line 63 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToBall().
double GT2004BasicBehaviorGoToBall::maxTurnSpeed [private] |
parameter "max-turn-speed"
Definition at line 78 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToBall().
double GT2004BasicBehaviorGoToBall::targetAngleToBall [private] |
parameter "go-to-ball.target-angle-to-ball"
Definition at line 69 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToBall().
double GT2004BasicBehaviorGoToBall::walkType [private] |
parameter "walk-type"
Definition at line 75 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToBall().
double GT2004BasicBehaviorGoToBall::yOffset [private] |
parameter "go-to-ball.y-offset"
Definition at line 72 of file GT2004SimpleBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorGoToBall().