GT2004BasicBehaviorGoToPointAndAvoidObstacles Class Reference

#include <GT2004SimpleBasicBehaviors.h>

Inheritance diagram for GT2004BasicBehaviorGoToPointAndAvoidObstacles:

Xabsl2BasicBehavior BehaviorControlInterfaces Xabsl2NamedItem List of all members.

Public Member Functions

 GT2004BasicBehaviorGoToPointAndAvoidObstacles (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void execute ()

Private Attributes

double x
double y
double maxSpeed
double avoidanceLevel
PIDsmoothedValue turnSpeed
PIDsmoothedValue speedX
PIDsmoothedValue speedY
long lastTimeExecuted

Detailed Description

A Basic Behavior for going to a point on the field and avoiding obstacles on the way there.
Author:
Jan Hoffmann

Definition at line 378 of file GT2004SimpleBasicBehaviors.h.


Constructor & Destructor Documentation

GT2004BasicBehaviorGoToPointAndAvoidObstacles::GT2004BasicBehaviorGoToPointAndAvoidObstacles ( BehaviorControlInterfaces interfaces,
Xabsl2ErrorHandler errorHandler 
) [inline]

Definition at line 386 of file GT2004SimpleBasicBehaviors.h.

References avoidanceLevel, maxSpeed, Xabsl2BasicBehavior::registerParameter(), x, and y.


Member Function Documentation

void GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute (  )  [virtual]

Executes the basic behavior.

Implements Xabsl2BasicBehavior.

Definition at line 386 of file GT2004SimpleBasicBehaviors.cpp.

References Geometry::angleTo(), PIDsmoothedValue::approximateVal(), Geometry::distanceTo(), ObstaclesModel::getAngleOfNextFreeSector(), SystemCall::getCurrentSystemTime(), ObstaclesModel::getDistanceInCorridor(), RobotPose::getPose(), SystemCall::getTimeSince(), ObstaclesModel::getTotalFreeSpaceInSector(), lastTimeExecuted, maxSpeed, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, WalkRequest::normal, BehaviorControlInterfaces::obstaclesModel, pi, Range< T >::Range(), PIDsmoothedValue::resetTo(), BehaviorControlInterfaces::robotPose, Pose2D::rotation, speedX, speedY, MotionRequest::stand, Pose2D::translation, turnSpeed, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< V >::x, x, Vector2< V >::y, and y.


Member Data Documentation

double GT2004BasicBehaviorGoToPointAndAvoidObstacles::avoidanceLevel [private]

parameter "go-to-point-and-avoid-obstacles.avoid-penalty-areas"

Definition at line 414 of file GT2004SimpleBasicBehaviors.h.

Referenced by GT2004BasicBehaviorGoToPointAndAvoidObstacles().

long GT2004BasicBehaviorGoToPointAndAvoidObstacles::lastTimeExecuted [private]

last time behavior was executed

Definition at line 426 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorGoToPointAndAvoidObstacles::maxSpeed [private]

parameter "go-to-point-and-avoid-obstacles.max-speed"

Definition at line 411 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToPointAndAvoidObstacles().

PIDsmoothedValue GT2004BasicBehaviorGoToPointAndAvoidObstacles::speedX [private]

smoothes the speed in forward direction

Definition at line 420 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute().

PIDsmoothedValue GT2004BasicBehaviorGoToPointAndAvoidObstacles::speedY [private]

smoothes the speed in sideways direction

Definition at line 423 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute().

PIDsmoothedValue GT2004BasicBehaviorGoToPointAndAvoidObstacles::turnSpeed [private]

smoothes the rotation

Definition at line 417 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorGoToPointAndAvoidObstacles::x [private]

parameter "go-to-point-and-avoid-obstacles.x"

Definition at line 405 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToPointAndAvoidObstacles().

double GT2004BasicBehaviorGoToPointAndAvoidObstacles::y [private]

parameter "go-to-point-and-avoid-obstacles.y"

Definition at line 408 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToPointAndAvoidObstacles().


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:33:18 2006 for DT2005.panorama by  doxygen 1.4.7