#include <GT2004EvolutionBasicBehaviors.h>
Inheritance diagram for GT2004BasicBehaviorEvolveOmniParameters:
Public Member Functions | |
GT2004BasicBehaviorEvolveOmniParameters (const BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler, GT2004ParametersSet >2004ParametersSet, Pose2D *gt2004ParametersCalibration, int >2004CurrentIndex, Pose2D &measurementRequest, int &evolutionMode) | |
virtual void | execute () |
Private Attributes | |
Population< GT2004Parameters, 10 > | ftPopulation |
Population< GT2004Parameters, 10 > | bPopulation |
double | mode |
int | lastMode |
ForwardTurningParcour | forwardTurningParcour |
SimpleBackwardParcour | simpleBackwardParcour |
PIDsmoothedValue | motionRequestX |
PIDsmoothedValue | motionRequestY |
PIDsmoothedValue | motionRequestR |
GT2004ParametersSet & | gt2004ParametersSet |
Pose2D * | gt2004ParametersCalibration |
int & | gt2004CurrentIndex |
Pose2D & | measurementRequest |
int & | evolutionMode |
Definition at line 139 of file GT2004EvolutionBasicBehaviors.h.
GT2004BasicBehaviorEvolveOmniParameters::GT2004BasicBehaviorEvolveOmniParameters | ( | const BehaviorControlInterfaces & | interfaces, | |
Xabsl2ErrorHandler & | errorHandler, | |||
GT2004ParametersSet & | gt2004ParametersSet, | |||
Pose2D * | gt2004ParametersCalibration, | |||
int & | gt2004CurrentIndex, | |||
Pose2D & | measurementRequest, | |||
int & | evolutionMode | |||
) | [inline] |
Definition at line 147 of file GT2004EvolutionBasicBehaviors.h.
References bPopulation, InFile::exists(), ftPopulation, GT2004Parameters::index, Population< T, siz >::individual, mode, Individual::mutationOf(), and Xabsl2BasicBehavior::registerParameter().
void GT2004BasicBehaviorEvolveOmniParameters::execute | ( | ) | [virtual] |
Executes the basic behavior.
Implements Xabsl2BasicBehavior.
Definition at line 27 of file GT2004EvolutionBasicBehaviors.cpp.
References RobotState::acceleration, Geometry::angleTo(), bPopulation, Geometry::distanceTo(), evolutionMode, Population< T, siz >::evolve(), Individual::fitness, forwardTurningParcour, fromDegrees(), ftPopulation, SystemCall::getCurrentSystemTime(), Parcour::getMotionRequest(), Population< T, siz >::getNextIndividualWithoutFitness(), Parcour::getUnifiedSpeed(), RobotPose::getValidity(), BehaviorControlInterfaces::gt2004Parameters, idGT2004Parameters, idInvKinWalkingParameters, idText, int(), BehaviorControlInterfaces::invKinWalkingParameters, lastMode, mode, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, WalkRequest::normal, normalize(), OUTPUT, Population< T, siz >::outputStatistics(), BehaviorControlInterfaces::robotPose, BehaviorControlInterfaces::robotState, Pose2D::rotation, simpleBackwardParcour, MotionRequest::stand, Parcour::start(), text, toDegrees(), Pose2D::translation, Parcour::update(), MotionRequest::updateRP, MotionRequest::walk, BehaviorControlInterfaces::walkParameterTimeStamp, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< V >::x, and Vector2< V >::y.
Definition at line 202 of file GT2004EvolutionBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorEvolveOmniParameters().
int& GT2004BasicBehaviorEvolveOmniParameters::evolutionMode [private] |
a Polpulation of WalkingParameters
Definition at line 201 of file GT2004EvolutionBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorEvolveOmniParameters().
int& GT2004BasicBehaviorEvolveOmniParameters::gt2004CurrentIndex [private] |
Definition at line 215 of file GT2004EvolutionBasicBehaviors.h.
Definition at line 214 of file GT2004EvolutionBasicBehaviors.h.
GT2004 Evolution stuff
Definition at line 213 of file GT2004EvolutionBasicBehaviors.h.
int GT2004BasicBehaviorEvolveOmniParameters::lastMode [private] |
Definition at line 216 of file GT2004EvolutionBasicBehaviors.h.
double GT2004BasicBehaviorEvolveOmniParameters::mode [private] |
specifies whether the robot should walk forward or backward or parameters should be changed
Definition at line 205 of file GT2004EvolutionBasicBehaviors.h.
Referenced by execute(), and GT2004BasicBehaviorEvolveOmniParameters().
Definition at line 210 of file GT2004EvolutionBasicBehaviors.h.
Definition at line 210 of file GT2004EvolutionBasicBehaviors.h.
Definition at line 210 of file GT2004EvolutionBasicBehaviors.h.