#include <CollisionPercept.h>
Public Member Functions | |
CollisionPercept () | |
void | reset () |
~CollisionPercept () | |
bool | getCollisionFrontLeft () const |
bool | getCollisionFrontRight () const |
bool | getCollisionHindLeft () const |
bool | getCollisionHindRight () const |
bool | getCollisionHead () const |
bool | getCollisionAggregate () const |
void | setFrameNumber (unsigned long frameNumber) |
Public Attributes | |
double | state [JointData::numOfJoint] |
unsigned long | frameNumber |
Definition at line 19 of file CollisionPercept.h.
CollisionPercept::CollisionPercept | ( | ) |
Constructor
Definition at line 9 of file CollisionPercept.cpp.
References JointData::numOfJoint, and state.
CollisionPercept::~CollisionPercept | ( | ) |
Destructor
Definition at line 26 of file CollisionPercept.cpp.
bool CollisionPercept::getCollisionAggregate | ( | ) | const |
Did collision occur at any body part
Definition at line 75 of file CollisionPercept.cpp.
References getCollisionFrontLeft(), getCollisionFrontRight(), getCollisionHindLeft(), and getCollisionHindRight().
Referenced by GT2004RobotStateDetector::calculateCollisionState().
bool CollisionPercept::getCollisionFrontLeft | ( | ) | const |
Did collision occur at front left leg
Definition at line 31 of file CollisionPercept.cpp.
References JointData::legFL1, JointData::legFL2, JointData::legFL3, and state.
Referenced by GT2004RobotStateDetector::calculateCollisionState(), getCollisionAggregate(), and DrawingMethods::paintCollisionPerceptForFieldView().
bool CollisionPercept::getCollisionFrontRight | ( | ) | const |
Did collision occur at front right leg
Definition at line 39 of file CollisionPercept.cpp.
References JointData::legFR1, JointData::legFR2, JointData::legFR3, and state.
Referenced by GT2004RobotStateDetector::calculateCollisionState(), getCollisionAggregate(), and DrawingMethods::paintCollisionPerceptForFieldView().
bool CollisionPercept::getCollisionHead | ( | ) | const |
Did collision occur at head
Definition at line 66 of file CollisionPercept.cpp.
References JointData::headPan, JointData::headTilt, JointData::neckTilt, and state.
Referenced by GT2004RobotStateDetector::calculateCollisionState(), and DrawingMethods::paintCollisionPerceptForFieldView().
bool CollisionPercept::getCollisionHindLeft | ( | ) | const |
Did collision occur at hind left leg
Definition at line 47 of file CollisionPercept.cpp.
References JointData::legHL1, JointData::legHL2, JointData::legHL3, and state.
Referenced by GT2004RobotStateDetector::calculateCollisionState(), getCollisionAggregate(), and DrawingMethods::paintCollisionPerceptForFieldView().
bool CollisionPercept::getCollisionHindRight | ( | ) | const |
Did collision occur at hind left leg
Definition at line 56 of file CollisionPercept.cpp.
References JointData::legHR1, JointData::legHR2, JointData::legHR3, and state.
Referenced by GT2004RobotStateDetector::calculateCollisionState(), getCollisionAggregate(), and DrawingMethods::paintCollisionPerceptForFieldView().
void CollisionPercept::reset | ( | ) |
Reset all states
Definition at line 17 of file CollisionPercept.cpp.
References JointData::numOfJoint, and state.
Referenced by GT2004CollisionDetector::execute().
void CollisionPercept::setFrameNumber | ( | unsigned long | frameNumber | ) | [inline] |
sets frame number
Definition at line 55 of file CollisionPercept.h.
Referenced by GT2004CollisionDetector::execute().
unsigned long CollisionPercept::frameNumber |
the last perceived frame
Definition at line 52 of file CollisionPercept.h.
Referenced by operator<<(), operator>>(), GT2004RobotStateDetector::setCollisionOnLeftSide(), and GT2004RobotStateDetector::setCollisionOnRightSide().
double CollisionPercept::state[JointData::numOfJoint] |
Definition at line 31 of file CollisionPercept.h.
Referenced by CollisionPercept(), GT2004CollisionDetector::execute(), getCollisionFrontLeft(), getCollisionFrontRight(), getCollisionHead(), getCollisionHindLeft(), getCollisionHindRight(), and reset().