#include <GT2004BehaviorControl.h>
Inheritance diagram for GT2004BehaviorControl:
Matthias Jüngel
Definition at line 72 of file GT2004BehaviorControl.h.
GT2004BehaviorControl::GT2004BehaviorControl | ( | BehaviorControlInterfaces & | interfaces | ) |
Constructor.
interfaces | The paramters of the BehaviorControl module. |
Definition at line 20 of file GT2004BehaviorControl.cpp.
References actualOptionRating, actualTacticChooser, ASSERT, chooserRaterInterfaces, collectedBeliefs, RateableOptions::defaultOptionRating, RateableOptions::defaultTacticChooser, GT2004ParametersSet::getParameters(), gt2004CurrentIndex, gt2004ExtraParameters, gt2004ParametersCalibration, gt2004ParametersSet, GT2004Parameters::index, GTXabsl2EngineExecutor::init(), ChooserRaterInterfaces::lastChoosenOption, measurementRequest, RateableOptions::noOption, GT2004ParametersSet::numberOfParameters, optionRating, GTXabsl2EngineExecutor::pEngine, quickStop, GT2004Parameters::requestedMotion, and tacticChooser.
GT2004BehaviorControl::~GT2004BehaviorControl | ( | ) |
destructor
Definition at line 86 of file GT2004BehaviorControl.cpp.
References actualTacticChooser, RateableOptions::defaultOptionRating, RateableOptions::defaultTacticChooser, optionRating, and tacticChooser.
void GT2004BehaviorControl::execute | ( | ) | [virtual] |
Executes the module
Implements Module.
Definition at line 238 of file GT2004BehaviorControl.cpp.
References angleSymbols, ballSymbols, configurationSymbols, evolutionSymbols, KickLogger::execute(), GTXabsl2EngineExecutor::executeEngine(), kickLogger, obstaclesSymbols, openchallengeSymbols, postExecute(), potentialFieldBasicBehaviors, preExecute(), roboCupGameManagerSymbols, robotPoseSymbols, BehaviorControlInterfaces::slamData, strategySymbols, GT2004PotentialFieldBasicBehaviors::update(), OpenChallengeSymbols::update(), EvolutionSymbols::update(), GT2004StrategySymbols::update(), RobotPoseSymbols::update(), RoboCupGameManagerSymbols::update(), ObstaclesSymbols::update(), GT2004ConfigurationSymbols::update(), BallSymbols::update(), AngleSymbols::update(), and SLAMData::updateFromXablsOutputSymbols().
bool GT2004BehaviorControl::handleMessage | ( | InMessage & | message | ) | [virtual] |
Is called for every incoming debug message.
message | An interface to read the message from the queue |
Reimplemented from Xabsl2BehaviorControl.
Definition at line 468 of file GT2004BehaviorControl.cpp.
References actualTacticChooser, InMessage::bin, evolutionMode, SystemCall::getCurrentSystemTime(), GT2004ParametersSet::getIndexOfMirror(), GT2004ParametersSet::getIndexString(), InMessage::getMessageID(), GT2004ParametersSet::getParameters(), GT2004ParametersSet::getSpeed(), gt2004CurrentIndex, gt2004ExtraParameters, BehaviorControlInterfaces::gt2004Parameters, gt2004ParametersCalibration, gt2004ParametersSet, TacticChooser::handleMessage(), KickSelectionSymbols::handleMessage(), Xabsl2BehaviorControl::handleMessage(), idGT2004EvolutionRequest, idGT2004Parameters, idText, GT2004Parameters::index, int(), kickSelectionSymbols, GT2004ParametersSet::load(), measurementRequest, GT2004ParametersSet::numberOfParameters, OUTPUT, GT2004Parameters::requestedMotion, Pose2D::rotation, GT2004ParametersSet::save(), GT2004ParametersSet::setSpeed(), text, Pose2D::translation, BehaviorControlInterfaces::walkParameterTimeStamp, Vector2< V >::x, and Vector2< V >::y.
void GT2004BehaviorControl::postExecute | ( | ) |
Sets some variables for head motion and sound after the execution of the engine
Definition at line 267 of file GT2004BehaviorControl.cpp.
References AngleSymbols::angleShownByLEDs, angleSymbols, BodyPercept::backBack, BodyPercept::backFront, LEDRequest::backFrontBlueLED, LEDRequest::backFrontWhiteLED, BodyPercept::backMiddle, LEDRequest::backMiddleOrangeLED, LEDRequest::backMiddleWhiteLED, LEDRequest::backRearRedLED, LEDRequest::backRearWhiteLED, BehaviorControlInterfaces::ballModel, BallState::ballRollsByLeft, BallState::ballRollsByRight, BallState::ballRollsFast, BallState::ballRollsTowardsRobot, BallModel::ballState, SoundRequest::bark2, SoundRequest::bing01, SoundRequest::bing03, Player::blue, BodyPercept::chin, SensorData::chin, GTXabsl2Profiler::collectProfiles, RobotState::crashed, SensorData::data, debugHeadControlMode, BehaviorTeamMessage::defensiveSupporter, GTXabsl2Profiler::dontCollectProfiles, MotionInfo::executedMotionRequest, LEDRequest::faceLED, SensorDataBuffer::frame, BehaviorTeamMessage::gameState, AngleSymbols::getAngle(), RobotState::getButtonDuration(), RobotState::getButtonPressed(), getPlayer(), RobotState::getState(), Player::getTeamColor(), MotionRequest::getup, BodyPercept::head, HeadControlMode::headControlMode, BehaviorControlInterfaces::headControlMode, BehaviorTeamMessage::initial, SensorDataBuffer::lastFrame(), BehaviorControlInterfaces::ledRequest, LEDRequest::llll, LEDRequest::lloo, LEDRequest::lolo, HeadControlMode::lookToStars, BehaviorControlInterfaces::motionInfo, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, HeadControlMode::none, normalize(), ObstaclesSymbols::obstaclesAreClose, obstaclesSymbols, BehaviorTeamMessage::offensiveSupporter, LEDRequest::olol, Player::one, LEDRequest::oooo, BehaviorControlInterfaces::outgoingBehaviorTeamMessage, BehaviorTeamMessage::penalized, GTXabsl2EngineExecutor::profiler, GTXabsl2Profiler::profilerCollectMode, GTXabsl2Profiler::profilerWriteMode, quickStop, BehaviorTeamMessage::ready, Player::red, SoundRequest::rob101, ObstaclesSymbols::robotIsStuck, BehaviorControlInterfaces::robotState, GT2004StrategySymbols::role, RobotState::rollLeft, RobotState::rollRight, HeadControlMode::searchForBall, BehaviorControlInterfaces::sensorDataBuffer, BehaviorTeamMessage::set, BehaviorTeamMessage::sleep, SoundRequest::soundID, BehaviorControlInterfaces::soundRequest, MotionRequest::stand, HeadControlMode::stayAsForced, strategySymbols, BehaviorTeamMessage::striker, toDegrees(), AngleSymbols::undefined, WalkRequest::upsideDown, MotionRequest::walk, MotionRequest::walkRequest, WalkRequest::walkType, and GTXabsl2Profiler::writeCompleteProfiles.
Referenced by execute().
void GT2004BehaviorControl::preExecute | ( | ) |
Sets some varibles for leds and sound before the execution of the engine
Definition at line 125 of file GT2004BehaviorControl.cpp.
References LEDRequest::backFrontWhiteLED, LEDRequest::backMiddleOrangeLED, LEDRequest::backMiddleWhiteLED, LEDRequest::backRearWhiteLED, BehaviorControlInterfaces::ballModel, BallModel::ballWasSeen, LEDRequest::faceLED, LEDRequest::headOrangeLED, LEDRequest::headWhiteLED, BehaviorControlInterfaces::ledRequest, LEDRequest::llll, BehaviorTeamMessage::message, BehaviorControlInterfaces::motionRequest, BehaviorTeamMessage::none, TailRequest::noTailWag, LEDRequest::oooo, BehaviorControlInterfaces::outgoingBehaviorTeamMessage, MotionRequest::tailRequest, and TailRequest::tailRequestID.
Referenced by execute().
void GT2004BehaviorControl::registerSymbolsAndBasicBehaviors | ( | ) | [virtual] |
Registers symbols and basic behaviors at the engine
Implements GTXabsl2EngineExecutor.
Definition at line 95 of file GT2004BehaviorControl.cpp.
References angleSymbols, ballSymbols, calibrationSymbols, challengeSymbols, commonBasicBehaviors, configurationSymbols, dttSymbols, evolutionBasicBehaviors, evolutionSymbols, headAndTailSymbols, joystickSymbols, kickSelectionSymbols, ledAndSoundSymbols, mathFunctions, motionRequestSymbols, obstaclesSymbols, openchallengeSymbols, GTXabsl2EngineExecutor::pEngine, potentialFieldBasicBehaviors, CommonBasicBehaviors::registerBasicBehaviors(), GT2004PotentialFieldBasicBehaviors::registerBasicBehaviors(), GT2004EvolutionBasicBehaviors::registerBasicBehaviors(), GT2004SimpleBasicBehaviors::registerBasicBehaviors(), SLAMSymbols::registerSymbols(), GT2004DTTSymbols::registerSymbols(), ChallengeSymbols::registerSymbols(), OpenChallengeSymbols::registerSymbols(), EvolutionSymbols::registerSymbols(), GT2004StrategySymbols::registerSymbols(), SpecialVisionSymbols::registerSymbols(), TaskVisionSymbols::registerSymbols(), RobotStateSymbols::registerSymbols(), RobotPoseSymbols::registerSymbols(), RoboCupGameManagerSymbols::registerSymbols(), ObstaclesSymbols::registerSymbols(), MotionRequestSymbols::registerSymbols(), MathFunctions::registerSymbols(), KickSelectionSymbols::registerSymbols(), LEDAndSoundSymbols::registerSymbols(), JoystickSymbols::registerSymbols(), HeadAndTailSymbols::registerSymbols(), GT2004ConfigurationSymbols::registerSymbols(), BallSymbols::registerSymbols(), AngleSymbols::registerSymbols(), CalibrationSymbols::registerSymbols(), roboCupGameManagerSymbols, robotPoseSymbols, robotStateSymbols, simpleBasicBehaviors, slamSymbols, specialVisionSymbols, strategySymbols, and taskVisionSymbols.
Definition at line 174 of file GT2004BehaviorControl.h.
Referenced by GT2004BehaviorControl(), handleMessage(), and ~GT2004BehaviorControl().
Definition at line 107 of file GT2004BehaviorControl.h.
Referenced by execute(), postExecute(), and registerSymbolsAndBasicBehaviors().
Definition at line 108 of file GT2004BehaviorControl.h.
Referenced by execute(), and registerSymbolsAndBasicBehaviors().
Definition at line 106 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().
Definition at line 124 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().
Definition at line 135 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().
Definition at line 109 of file GT2004BehaviorControl.h.
Referenced by execute(), and registerSymbolsAndBasicBehaviors().
Indicates which HeadControlMode is set, when the robot is demobilized (quick stop)
Definition at line 158 of file GT2004BehaviorControl.h.
Referenced by postExecute().
Definition at line 126 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().
Definition at line 133 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().
int GT2004BehaviorControl::evolutionMode [private] |
Definition at line 123 of file GT2004BehaviorControl.h.
Referenced by execute(), and registerSymbolsAndBasicBehaviors().
int GT2004BehaviorControl::gt2004CurrentIndex [private] |
Definition at line 145 of file GT2004BehaviorControl.h.
Referenced by GT2004BehaviorControl(), and handleMessage().
Definition at line 141 of file GT2004BehaviorControl.h.
Referenced by GT2004BehaviorControl(), and handleMessage().
Pose2D GT2004BehaviorControl::gt2004ParametersCalibration[128] [private] |
Definition at line 142 of file GT2004BehaviorControl.h.
Referenced by GT2004BehaviorControl(), and handleMessage().
Definition at line 140 of file GT2004BehaviorControl.h.
Referenced by GT2004BehaviorControl(), and handleMessage().
Definition at line 110 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().
Definition at line 111 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().
KickLogger GT2004BehaviorControl::kickLogger [private] |
Definition at line 113 of file GT2004BehaviorControl.h.
Referenced by handleMessage(), and registerSymbolsAndBasicBehaviors().
Definition at line 112 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().
Definition at line 114 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().
Definition at line 143 of file GT2004BehaviorControl.h.
Referenced by GT2004BehaviorControl(), and handleMessage().
Definition at line 115 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().
Definition at line 116 of file GT2004BehaviorControl.h.
Referenced by execute(), postExecute(), and registerSymbolsAndBasicBehaviors().
Definition at line 125 of file GT2004BehaviorControl.h.
Referenced by execute(), and registerSymbolsAndBasicBehaviors().
OptionRating* GT2004BehaviorControl::optionRating[RateableOptions::numOfOptionRatings] [private] |
Definition at line 167 of file GT2004BehaviorControl.h.
Referenced by GT2004BehaviorControl(), and ~GT2004BehaviorControl().
Definition at line 134 of file GT2004BehaviorControl.h.
Referenced by execute(), and registerSymbolsAndBasicBehaviors().
bool GT2004BehaviorControl::quickStop [private] |
If quickStop is true, the robot just stands
Definition at line 155 of file GT2004BehaviorControl.h.
Referenced by GT2004BehaviorControl(), and postExecute().
Definition at line 117 of file GT2004BehaviorControl.h.
Referenced by execute(), and registerSymbolsAndBasicBehaviors().
Definition at line 118 of file GT2004BehaviorControl.h.
Referenced by execute(), and registerSymbolsAndBasicBehaviors().
Definition at line 119 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().
Definition at line 132 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().
Definition at line 127 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().
Definition at line 120 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().
Definition at line 122 of file GT2004BehaviorControl.h.
Referenced by execute(), postExecute(), and registerSymbolsAndBasicBehaviors().
TacticChooser* GT2004BehaviorControl::tacticChooser[RateableOptions::numOfTacticChoosers] [private] |
Definition at line 172 of file GT2004BehaviorControl.h.
Referenced by GT2004BehaviorControl(), and ~GT2004BehaviorControl().
Definition at line 121 of file GT2004BehaviorControl.h.
Referenced by registerSymbolsAndBasicBehaviors().