#include <GT2004HeadControlSymbols.h>
Inheritance diagram for GT2004HeadControlSymbols:
Definition at line 26 of file GT2004HeadControlSymbols.h.
GT2004HeadControlSymbols::GT2004HeadControlSymbols | ( | const HeadControlInterfaces & | interfaces, | |
GT2004HeadControl & | headControl, | |||
GT2004BasicBehaviorDirectedScanForLandmarks & | gt2004BasicBehaviorDirectedScanForLandmarks | |||
) |
double GT2004HeadControlSymbols::getBallConsecutivelySeenTime | ( | ) |
A function for the symbol "ball.consecutive-seen-time"
Definition at line 101 of file GT2004HeadControlSymbols.cpp.
References HeadControlInterfaces::ballModel, BallModel::seen, SeenBallPosition::timeUntilSeenConsecutively, and SeenBallPosition::timeWhenFirstSeenConsecutively.
Referenced by registerSymbols().
double GT2004HeadControlSymbols::getBallSpeedAbs | ( | ) |
A function for the symbol "ball.speed-abs"
Definition at line 134 of file GT2004HeadControlSymbols.cpp.
References Vector2< V >::abs(), HeadControlInterfaces::ballModel, BallModel::seen, and SeenBallPosition::speed.
Referenced by registerSymbols().
double GT2004HeadControlSymbols::getBallTimeSinceLastSeen | ( | ) |
A function for the symbol "ball.time-since-last-seen"
Definition at line 96 of file GT2004HeadControlSymbols.cpp.
References HeadControlInterfaces::ballModel, SystemCall::getTimeSince(), BallModel::seen, and SeenBallPosition::timeWhenLastSeen.
Referenced by registerSymbols().
bool GT2004HeadControlSymbols::getBodyPSDDetectBall | ( | ) |
A function for the symbol "body-PSD-detect-ball"
Definition at line 149 of file GT2004HeadControlSymbols.cpp.
References RobotState::getSomethingInFrontOfChest(), and HeadControlInterfaces::robotState.
Referenced by registerSymbols().
double GT2004HeadControlSymbols::getCommunicatedBallDistance | ( | ) |
A function for the symbol "ball.communicated-ball-distance"
Definition at line 117 of file GT2004HeadControlSymbols.cpp.
References HeadControlInterfaces::ballModel, BallModel::communicated, HeadControlInterfaces::robotPose, and Pose2D::translation.
Referenced by registerSymbols().
bool GT2004HeadControlSymbols::getLastHeadPathIsFinished | ( | ) |
A function for the symbol "last-head-path-is-finished"
Definition at line 154 of file GT2004HeadControlSymbols.cpp.
References headControl, GT2004HeadControl::headPathPlanner, and GT2004HeadPathPlanner::isLastPathFinished().
Referenced by registerSymbols().
bool GT2004HeadControlSymbols::getNextLandmarkIsWithinReach | ( | ) |
A function for the symbol "next-landmark-is-within-reach"
Definition at line 169 of file GT2004HeadControlSymbols.cpp.
References gt2004BasicBehaviorDirectedScanForLandmarks, and GT2004BasicBehaviorDirectedScanForLandmarks::nextLandmarkIsWithinReach.
Referenced by registerSymbols().
double GT2004HeadControlSymbols::getPositionInWalkCycle | ( | ) |
A function for the symbol "position-in-walk-cycle"
Definition at line 188 of file GT2004HeadControlSymbols.cpp.
References HeadControlInterfaces::motionInfo, and MotionInfo::positionInWalkCycle.
Referenced by registerSymbols().
double GT2004HeadControlSymbols::getRelativeBallSpeedX | ( | ) |
A function for the symbol "ball.relative-speed-x"
Definition at line 122 of file GT2004HeadControlSymbols.cpp.
References HeadControlInterfaces::ballModel, HeadControlInterfaces::robotPose, Pose2D::rotation, BallModel::seen, SeenBallPosition::speed, Vector2< V >::x, and Vector2< V >::y.
Referenced by registerSymbols().
double GT2004HeadControlSymbols::getRelativeBallSpeedY | ( | ) |
A function for the symbol "ball.relative-speed-y"
Definition at line 128 of file GT2004HeadControlSymbols.cpp.
References HeadControlInterfaces::ballModel, HeadControlInterfaces::robotPose, Pose2D::rotation, BallModel::seen, SeenBallPosition::speed, Vector2< V >::x, and Vector2< V >::y.
Referenced by registerSymbols().
bool GT2004HeadControlSymbols::getReleasingBallLeftIsPossible | ( | ) |
A function for the symbol "releasing-ball-left-is-possible"
Definition at line 174 of file GT2004HeadControlSymbols.cpp.
References HeadControlInterfaces::motionInfo, and MotionInfo::positionInWalkCycle.
Referenced by registerSymbols().
bool GT2004HeadControlSymbols::getReleasingBallRightIsPossible | ( | ) |
A function for the symbol "releasing-ball-right-is-possible"
Definition at line 181 of file GT2004HeadControlSymbols.cpp.
References HeadControlInterfaces::motionInfo, and MotionInfo::positionInWalkCycle.
Referenced by registerSymbols().
double GT2004HeadControlSymbols::getSeenDistance | ( | ) |
A function for the symbol "ball.seen.distance"
Definition at line 112 of file GT2004HeadControlSymbols.cpp.
References HeadControlInterfaces::ballModel, Geometry::distanceTo(), RobotPose::getPose(), HeadControlInterfaces::robotPose, and BallModel::seen.
Referenced by registerSymbols().
bool GT2004HeadControlSymbols::getSetJointsIsCloseToDestination | ( | ) |
A function for the symbol "set-joints-is-close-to-destination"
Definition at line 159 of file GT2004HeadControlSymbols.cpp.
References headControl, and GT2004HeadControl::setJointsIsCloseToDestination.
Referenced by registerSymbols().
bool GT2004HeadControlSymbols::getSetJointsMaxPanReached | ( | ) |
A function for the symbol "set-joints-max-pan-reached"
Definition at line 164 of file GT2004HeadControlSymbols.cpp.
References headControl, and GT2004HeadControl::setJointsMaxPanReached.
Referenced by registerSymbols().
double GT2004HeadControlSymbols::getTimeBetweenSeen2LastBeacons | ( | ) |
A function for the symbol "time-between-last-beacons"
Definition at line 144 of file GT2004HeadControlSymbols.cpp.
References GT2004HeadControl::getTimeBetweenSeen2LastBeacons(), headControl, and lastSeenBeaconIndex.
Referenced by registerSymbols().
double GT2004HeadControlSymbols::getTimeSinceLastSeenABeacon | ( | ) |
A function for the symbol "time-since-last-seen-beacon"
Definition at line 139 of file GT2004HeadControlSymbols.cpp.
References GT2004HeadControl::getTimeOfLastSeenBeacon(), SystemCall::getTimeSince(), headControl, and lastSeenBeaconIndex.
Referenced by registerSymbols().
double GT2004HeadControlSymbols::getTimeSinceLastSeenConsecutively | ( | ) |
A function for the symbol "ball.time-since-last-seen-consecutively"
Definition at line 107 of file GT2004HeadControlSymbols.cpp.
References HeadControlInterfaces::ballModel, SystemCall::getTimeSince(), BallModel::seen, and SeenBallPosition::timeUntilSeenConsecutively.
Referenced by registerSymbols().
void GT2004HeadControlSymbols::registerSymbols | ( | Xabsl2Engine & | engine | ) |
registers the symbols at an engine
Definition at line 20 of file GT2004HeadControlSymbols.cpp.
References HeadControlMode::catchBall, getBallConsecutivelySeenTime(), getBallSpeedAbs(), getBallTimeSinceLastSeen(), getBodyPSDDetectBall(), getCommunicatedBallDistance(), getLastHeadPathIsFinished(), getNextLandmarkIsWithinReach(), getPositionInWalkCycle(), getRelativeBallSpeedX(), getRelativeBallSpeedY(), getReleasingBallLeftIsPossible(), getReleasingBallRightIsPossible(), getSeenDistance(), getSetJointsIsCloseToDestination(), getSetJointsMaxPanReached(), getTimeBetweenSeen2LastBeacons(), getTimeSinceLastSeenABeacon(), getTimeSinceLastSeenConsecutively(), HeadControlMode::headControlMode, HeadControlInterfaces::headControlMode, HeadControlInterfaces::headIsBlockedBySpecialActionOrWalk, Xabsl2Symbols::registerBooleanInputSymbol(), Xabsl2Symbols::registerDecimalInputSymbol(), Xabsl2Symbols::registerEnumeratedInputSymbol(), Xabsl2Symbols::registerEnumeratedInputSymbolEnumElement(), HeadControlMode::releaseCaughtBallWhenTurningLeft, HeadControlMode::releaseCaughtBallWhenTurningRight, HeadControlMode::searchAuto, HeadControlMode::searchForBall, HeadControlMode::searchForBallLeft, and HeadControlMode::searchForBallRight.
Referenced by GT2004HeadControl::registerSymbolsAndBasicBehaviors().
void GT2004HeadControlSymbols::update | ( | ) |
updates the symbols
Definition at line 89 of file GT2004HeadControlSymbols.cpp.
References GT2004HeadControl::getLastSeenBeaconIndex(), headControl, and lastSeenBeaconIndex.
Referenced by GT2004HeadControl::execute().
GT2004BasicBehaviorDirectedScanForLandmarks& GT2004HeadControlSymbols::gt2004BasicBehaviorDirectedScanForLandmarks [private] |
Definition at line 69 of file GT2004HeadControlSymbols.h.
Referenced by getNextLandmarkIsWithinReach().
A reference to the HeadControl module
Definition at line 68 of file GT2004HeadControlSymbols.h.
Referenced by getLastHeadPathIsFinished(), getSetJointsIsCloseToDestination(), getSetJointsMaxPanReached(), getTimeBetweenSeen2LastBeacons(), getTimeSinceLastSeenABeacon(), and update().
int GT2004HeadControlSymbols::lastSeenBeaconIndex [private] |
Definition at line 71 of file GT2004HeadControlSymbols.h.
Referenced by getTimeBetweenSeen2LastBeacons(), getTimeSinceLastSeenABeacon(), GT2004HeadControlSymbols(), and update().