BehaviorControlInterfaces Class Reference

#include <BehaviorControl.h>

Inheritance diagram for BehaviorControlInterfaces:

AngleSymbols BallSymbols BasicBehaviorDoNothing BasicBehaviorPlayDead BasicBehaviorShutdown BasicBehaviorSpecialAction BasicBehaviorStand BasicBehaviorWalk BehaviorControl BehaviorControlSelector CalibrationSymbols ChallengeSymbols CollectedBeliefs CommonBasicBehaviors EvolutionSymbols GlobalAnalyser GT2004BasicBehaviorDogAsJoystick GT2004BasicBehaviorEvolveOmniParameters GT2004BasicBehaviorGoaliePosition GT2004BasicBehaviorGoaliePositionReturn GT2004BasicBehaviorGoForwardToPoint GT2004BasicBehaviorGoToBall GT2004BasicBehaviorGoToBallWithoutTurning GT2004BasicBehaviorGoToPoint GT2004BasicBehaviorGoToPointAndAvoidObstacles GT2004BasicBehaviorMeasureGT2004Parameters GT2004BasicBehaviorMeasureGT2004ParametersBlind GT2004BasicBehaviorMoveTheBridge GT2004BasicBehaviorNextGT2004ParametersToBeMeasured GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext GT2004BasicBehaviorTurnAroundPoint GT2004ConfigurationSymbols GT2004DTTSymbols GT2004EvolutionBasicBehaviors GT2004PotentialFieldBasicBehavior GT2004PotentialFieldBasicBehaviors GT2004SimpleBasicBehaviors GT2004StrategySymbols HeadAndTailSymbols JoystickSymbols KickLogger KickSelectionSymbols LEDAndSoundSymbols MathFunctions MotionRequestSymbols ObstaclesSymbols OpenChallengeSymbols OptionRating RoboCupGameManagerSymbols RobotPoseSymbols RobotStateSymbols SLAMSymbols SpecialVisionSymbols TacticChooser TaskVisionSymbols List of all members.

Public Member Functions

 BehaviorControlInterfaces (TaskVisionData &taskVisionData, const RobotPose &robotPose, const BallModel &ballModel, const PlayerPoseCollection &playerPoseCollection, const ObstaclesModel &obstaclesModel, const RobotState &robotState, const MotionInfo &motionInfo, const SpecialPercept &specialPercept, const TeamMessageCollection &teamMessageCollection, const JoystickData &joystickData, const OdometryData &odometryData, const SampleSetProxy< PoseSample > &selfLocatorSamples, const SensorDataBuffer &sensorDataBuffer, const PSDPercept &psdPercept, GameControlData &gameControlData, MotionRequest &motionRequest, LEDRequest &ledRequest, HeadControlMode &headControlMode, SoundRequest &soundRequest, InvKinWalkingParameters &invKinWalkingParameters, GT2004Parameters &gt2004Parameters, unsigned long &walkParameterTimeStamp, SpecialVisionRequest &specialVisionRequest, CalibrationRequest &calibrationRequest, BehaviorTeamMessage &outgoingBehaviorTeamMessage, SLAMData &slamData)

Protected Attributes

TaskVisionDatataskVisionData
SLAMDataslamData
const RobotPoserobotPose
const BallModelballModel
const PlayerPoseCollectionplayerPoseCollection
const ObstaclesModelobstaclesModel
const RobotStaterobotState
const MotionInfomotionInfo
const SpecialPerceptspecialPercept
const TeamMessageCollectionteamMessageCollection
const JoystickDatajoystickData
const OdometryDataodometryData
const SampleSetProxy< PoseSample > & selfLocatorSamples
const SensorDataBuffersensorDataBuffer
const PSDPerceptpsdPercept
GameControlDatagameControlData
MotionRequestmotionRequest
LEDRequestledRequest
HeadControlModeheadControlMode
SoundRequestsoundRequest
InvKinWalkingParametersinvKinWalkingParameters
GT2004Parametersgt2004Parameters
unsigned long & walkParameterTimeStamp
SpecialVisionRequestspecialVisionRequest
CalibrationRequestcalibrationRequest
BehaviorTeamMessageoutgoingBehaviorTeamMessage

Detailed Description

The interfaces of the BehaviorControl module.

Definition at line 58 of file BehaviorControl.h.


Constructor & Destructor Documentation

BehaviorControlInterfaces::BehaviorControlInterfaces ( TaskVisionData taskVisionData,
const RobotPose robotPose,
const BallModel ballModel,
const PlayerPoseCollection playerPoseCollection,
const ObstaclesModel obstaclesModel,
const RobotState robotState,
const MotionInfo motionInfo,
const SpecialPercept specialPercept,
const TeamMessageCollection teamMessageCollection,
const JoystickData joystickData,
const OdometryData odometryData,
const SampleSetProxy< PoseSample > &  selfLocatorSamples,
const SensorDataBuffer sensorDataBuffer,
const PSDPercept psdPercept,
GameControlData gameControlData,
MotionRequest motionRequest,
LEDRequest ledRequest,
HeadControlMode headControlMode,
SoundRequest soundRequest,
InvKinWalkingParameters invKinWalkingParameters,
GT2004Parameters gt2004Parameters,
unsigned long &  walkParameterTimeStamp,
SpecialVisionRequest specialVisionRequest,
CalibrationRequest calibrationRequest,
BehaviorTeamMessage outgoingBehaviorTeamMessage,
SLAMData slamData 
) [inline]

Constructor.

Definition at line 62 of file BehaviorControl.h.


Member Data Documentation

const BallModel& BehaviorControlInterfaces::ballModel [protected]

The position and the speed of the ball

Definition at line 131 of file BehaviorControl.h.

Referenced by GT2004StrategySymbols::computeRole(), GT2004StrategySymbols::estimateTimeToReachBall(), KickLogger::execute(), GT2004BasicBehaviorGoaliePosition::execute(), GT2004BasicBehaviorGoToBallWithoutTurning::execute(), GT2004BasicBehaviorGoToBall::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), BallSymbols::getAngleToOpponentGoal(), BallSymbols::getBallSeenInFrontOfOpponentGoal(), KickLogger::getBallX(), KickLogger::getBallY(), BallSymbols::getConsecutivelySeenTime(), BallSymbols::getDistanceSeenBallToOwnPenaltyArea(), GT2004StrategySymbols::getGoalieMaxPositionSpeed(), BallSymbols::getJustSeen(), BallSymbols::getKnownAngle(), BallSymbols::getKnownDistance(), BallSymbols::getKnownX(), BallSymbols::getKnownY(), BallSymbols::getMotionValidity(), BallSymbols::getNumberOfImagesWithBallPercept(), BallSymbols::getNumberOfImagesWithoutBallPercept(), BallSymbols::getProjectedDistanceOnYAxis(), BallSymbols::getSeenAngle(), BallSymbols::getSeenDistance(), BallSymbols::getSeenDistanceX(), BallSymbols::getSeenDistanceY(), BallSymbols::getSeenRelativeSpeedX(), BallSymbols::getSeenRelativeSpeedY(), BallSymbols::getSeenSpeed(), BallSymbols::getTimeSinceLastKnown(), BallSymbols::getTimeSinceLastSeen(), BallSymbols::getTimeSinceLastSeenConsecutively(), BallSymbols::getTimeUntilBallCrossesYAxis(), GT2004BehaviorControl::postExecute(), GT2004BehaviorControl::preExecute(), BallSymbols::registerSymbols(), KickSelectionSymbols::retrieveKick(), ObstaclesSymbols::update(), and BallSymbols::update().

CalibrationRequest& BehaviorControlInterfaces::calibrationRequest [protected]

A request for calibration

Definition at line 190 of file BehaviorControl.h.

Referenced by CalibrationSymbols::registerSymbols().

GameControlData& BehaviorControlInterfaces::gameControlData [protected]

Messages that are sent by the referee

Definition at line 167 of file BehaviorControl.h.

Referenced by RoboCupGameManagerSymbols::getKickoff(), RoboCupGameManagerSymbols::getOpponentScore(), RoboCupGameManagerSymbols::getOwnScore(), RoboCupGameManagerSymbols::getState(), RoboCupGameManagerSymbols::getTimeSinceLastMessage(), DefaultOptionRating::rateOptions(), GT2004ConfigurationSymbols::update(), and RoboCupGameManagerSymbols::update().

GT2004Parameters& BehaviorControlInterfaces::gt2004Parameters [protected]

Definition at line 183 of file BehaviorControl.h.

Referenced by GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), and GT2004BehaviorControl::handleMessage().

HeadControlMode& BehaviorControlInterfaces::headControlMode [protected]

The head control mode to be set by the behavior

Definition at line 176 of file BehaviorControl.h.

Referenced by GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BehaviorControl::postExecute(), and HeadAndTailSymbols::registerSymbols().

InvKinWalkingParameters& BehaviorControlInterfaces::invKinWalkingParameters [protected]

walking parameter sets to be used by the WalkingEngine, eg calculated by evolution behavior

Definition at line 182 of file BehaviorControl.h.

Referenced by GT2004BasicBehaviorEvolveOmniParameters::execute().

const JoystickData& BehaviorControlInterfaces::joystickData [protected]

Data produced by an extern sensor called joystick

Definition at line 152 of file BehaviorControl.h.

Referenced by JoystickSymbols::getJoystickButton(), JoystickSymbols::getJoystickTimeSinceLastMessage(), JoystickSymbols::getSpecialActionId(), and JoystickSymbols::registerSymbols().

LEDRequest& BehaviorControlInterfaces::ledRequest [protected]

The led request to be set by the behavior

Definition at line 173 of file BehaviorControl.h.

Referenced by GT2004BehaviorControl::postExecute(), GT2004BehaviorControl::preExecute(), DefaultOptionRating::rateOptions(), and LEDAndSoundSymbols::registerSymbols().

const MotionInfo& BehaviorControlInterfaces::motionInfo [protected]

The motions that are currently executed by the MotionControl

Definition at line 143 of file BehaviorControl.h.

Referenced by KickLogger::execute(), MotionRequestSymbols::getExecutedSpecialActionType(), MotionRequestSymbols::getPositionInWalkCycle(), GT2004BehaviorControl::postExecute(), and MotionRequestSymbols::registerSymbols().

MotionRequest& BehaviorControlInterfaces::motionRequest [protected]

The motion request to be set by the behavior

Definition at line 170 of file BehaviorControl.h.

Referenced by KickLogger::execute(), GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute(), GT2004BasicBehaviorGoForwardToPoint::execute(), GT2004BasicBehaviorTurnAroundPoint::execute(), GT2004BasicBehaviorGoaliePositionReturn::execute(), GT2004BasicBehaviorGoaliePosition::execute(), GT2004BasicBehaviorGoToBallWithoutTurning::execute(), GT2004BasicBehaviorGoToBall::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), BasicBehaviorPlayDead::execute(), BasicBehaviorStand::execute(), BasicBehaviorSpecialAction::execute(), BasicBehaviorWalk::execute(), Xabsl2BehaviorControl::executeIfEngineCouldNotBeCreated(), GT2004BehaviorControl::postExecute(), GT2004BehaviorControl::preExecute(), Xabsl2BehaviorControl::printGeneratedMainActionToString(), and HeadAndTailSymbols::registerSymbols().

const ObstaclesModel& BehaviorControlInterfaces::obstaclesModel [protected]

The positions of the obstacles

Definition at line 137 of file BehaviorControl.h.

Referenced by AngleSymbols::calculateCombinedAngles(), AngleSymbols::calculateVisionBasedAngles(), GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), GT2004ConfigurationSymbols::update(), and ObstaclesSymbols::update().

const OdometryData& BehaviorControlInterfaces::odometryData [protected]

Odomety Data

Definition at line 155 of file BehaviorControl.h.

Referenced by KickLogger::execute(), and GT2004BasicBehaviorGoaliePosition::execute().

BehaviorTeamMessage& BehaviorControlInterfaces::outgoingBehaviorTeamMessage [protected]

Messages to teammates

Definition at line 193 of file BehaviorControl.h.

Referenced by CollectedBeliefs::broadcast(), GT2004BasicBehaviorDogAsJoystick::execute(), GT2004BasicBehaviorMoveTheBridge::execute(), GT2004BehaviorControl::postExecute(), GT2004BehaviorControl::preExecute(), GT2004StrategySymbols::registerSymbols(), OpenChallengeSymbols::setOCStatus(), and GT2004StrategySymbols::update().

const PlayerPoseCollection& BehaviorControlInterfaces::playerPoseCollection [protected]

The positions of the own and opponent players

Definition at line 134 of file BehaviorControl.h.

Referenced by AngleSymbols::calculateCombinedAngles(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), and GT2004StrategySymbols::getAngleToTeammate().

const PSDPercept& BehaviorControlInterfaces::psdPercept [protected]

The PSDPercept

Definition at line 164 of file BehaviorControl.h.

Referenced by OpenChallengeSymbols::getDistanceToSIFOC().

const RobotPose& BehaviorControlInterfaces::robotPose [protected]

The robots position and orientation

Definition at line 128 of file BehaviorControl.h.

Referenced by MathFunctions::angleTo(), AngleSymbols::calculateCombinedAngles(), AngleSymbols::calculateLocalisationBasedAngles(), ChallengeSymbols::challenge2ShortestPath(), GT2004StrategySymbols::computeRole(), MathFunctions::distanceTo(), AngleSymbols::drawAngleShownByLeds(), KickLogger::execute(), GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute(), GT2004BasicBehaviorGoForwardToPoint::execute(), GT2004BasicBehaviorTurnAroundPoint::execute(), GT2004BasicBehaviorGoaliePositionReturn::execute(), GT2004BasicBehaviorGoaliePosition::execute(), GT2004BasicBehaviorGoToBallWithoutTurning::execute(), GT2004BasicBehaviorGoToBall::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), RobotPoseSymbols::getAngle(), RobotPoseSymbols::getAngleToBorder(), RobotPoseSymbols::getDistanceToOpponentGoal(), RobotPoseSymbols::getDistanceToOwnGoal(), RobotPoseSymbols::getDistanceToOwnPenaltyArea(), BallSymbols::getKnownAngle(), BallSymbols::getKnownDistance(), BallSymbols::getSeenAngle(), BallSymbols::getSeenDistance(), BallSymbols::getSeenDistanceX(), BallSymbols::getSeenDistanceY(), BallSymbols::getSeenRelativeSpeedX(), BallSymbols::getSeenRelativeSpeedY(), RobotPoseSymbols::registerSymbols(), KickSelectionSymbols::retrieveKick(), GT2004ConfigurationSymbols::update(), EvolutionSymbols::update(), ObstaclesSymbols::update(), BallSymbols::update(), and RobotPoseSymbols::updateGoalieDefendPosition().

const RobotState& BehaviorControlInterfaces::robotState [protected]

Pressed switches and fall downs

Definition at line 140 of file BehaviorControl.h.

Referenced by GT2004BasicBehaviorEvolveOmniParameters::execute(), RobotStateSymbols::getAnyBackButtonPressedForOneSecond(), RobotStateSymbols::getAnyBackButtonPressedShortAndReleased(), ObstaclesSymbols::getCollisionAggregate(), ObstaclesSymbols::getCollisionFrontLeft(), ObstaclesSymbols::getCollisionFrontRight(), ObstaclesSymbols::getCollisionHead(), ObstaclesSymbols::getCollisionHindLeft(), ObstaclesSymbols::getCollisionHindRight(), ObstaclesSymbols::getCollisionSide(), ObstaclesSymbols::getConsecutiveCollisionTimeAggregate(), ObstaclesSymbols::getConsecutiveCollisionTimeFrontLeft(), ObstaclesSymbols::getConsecutiveCollisionTimeFrontRight(), ObstaclesSymbols::getConsecutiveCollisionTimeHead(), ObstaclesSymbols::getConsecutiveCollisionTimeHindLeft(), ObstaclesSymbols::getConsecutiveCollisionTimeHindRight(), RobotStateSymbols::getDistanceToSIFOC(), RobotStateSymbols::getForeBackButtonPressedShort(), RobotStateSymbols::getForeBackButtonPressedShortAndReleased(), RobotStateSymbols::getHeadButtonPressedForThreeSeconds(), RobotStateSymbols::getHeadButtonPressedShort(), RobotStateSymbols::getHeadButtonPressedShortAndReleased(), RobotStateSymbols::getHindBackButtonPressedShort(), RobotStateSymbols::getHindBackButtonPressedShortAndReleased(), RobotStateSymbols::getMiddleBackButtonPressedShort(), RobotStateSymbols::getMiddleBackButtonPressedShortAndReleased(), RobotStateSymbols::getMouthState(), RobotStateSymbols::getSomethingInFrontOfChest(), RobotStateSymbols::getTimeSinceSomethingWasInFrontOfChest(), and GT2004BehaviorControl::postExecute().

const SampleSetProxy<PoseSample>& BehaviorControlInterfaces::selfLocatorSamples [protected]

The sample set proxy linked to the sample set of the active locator

Definition at line 158 of file BehaviorControl.h.

const SensorDataBuffer& BehaviorControlInterfaces::sensorDataBuffer [protected]

The sensor data

Definition at line 161 of file BehaviorControl.h.

Referenced by GT2004BasicBehaviorDogAsJoystick::execute(), RobotStateSymbols::getBallUnderHead(), OpenChallengeSymbols::getSensorAccelerationX(), OpenChallengeSymbols::getSensorAccelerationY(), OpenChallengeSymbols::getSensorAccelerationZ(), OpenChallengeSymbols::getSensorPSDFar(), OpenChallengeSymbols::getSensorPSDNear(), GT2004BehaviorControl::postExecute(), and OpenChallengeSymbols::update().

SLAMData& BehaviorControlInterfaces::slamData [protected]

SLAM challenge control symbols (phase & positions

Definition at line 125 of file BehaviorControl.h.

Referenced by GT2004BehaviorControl::execute(), and SLAMSymbols::registerSymbols().

SoundRequest& BehaviorControlInterfaces::soundRequest [protected]

The acoustic message to be set by the behavior

Definition at line 179 of file BehaviorControl.h.

Referenced by GT2004BehaviorControl::postExecute(), and LEDAndSoundSymbols::registerSymbols().

const SpecialPercept& BehaviorControlInterfaces::specialPercept [protected]

Special percepts for challenges

Definition at line 146 of file BehaviorControl.h.

Referenced by SpecialVisionSymbols::getBarCodeValue(), OpenChallengeSymbols::getBitePointPosition(), OpenChallengeSymbols::getLastSeenSide(), OpenChallengeSymbols::getPreciseShiftToBitePoint(), OpenChallengeSymbols::getRampAngleOfRedLine(), OpenChallengeSymbols::getRampDistanceToStartPoint(), OpenChallengeSymbols::getRampHighestLinePointX(), OpenChallengeSymbols::getRampHighestLinePointY(), OpenChallengeSymbols::getRampLowestLinePointX(), OpenChallengeSymbols::getRampLowestLinePointY(), OpenChallengeSymbols::getRampTimeSinceLastSeen(), OpenChallengeSymbols::getSeenAngleToBitePoint(), OpenChallengeSymbols::getSeenAngleToBridge(), OpenChallengeSymbols::getSeenDistanceToBitePoint(), OpenChallengeSymbols::getSeenDistanceToBridge(), OpenChallengeSymbols::getSeenDistanceToRedLine(), SpecialVisionSymbols::getShutterSelected(), OpenChallengeSymbols::getTimeSinceLastSeenBitePoint(), OpenChallengeSymbols::getTimeSinceLastSeenBridge(), OpenChallengeSymbols::getTimeSinceLastSeenRedLine(), OpenChallengeSymbols::redLineAngle(), OpenChallengeSymbols::redLineInImageAngle(), and SpecialVisionSymbols::registerSymbols().

SpecialVisionRequest& BehaviorControlInterfaces::specialVisionRequest [protected]

A request for special vision modules for challenges

Definition at line 187 of file BehaviorControl.h.

Referenced by SpecialVisionSymbols::registerSymbols().

TaskVisionData& BehaviorControlInterfaces::taskVisionData [protected]

for Switching Image Processor and SL arguments

Definition at line 122 of file BehaviorControl.h.

Referenced by TaskVisionSymbols::registerSymbols().

const TeamMessageCollection& BehaviorControlInterfaces::teamMessageCollection [protected]

Messages from teammates

Definition at line 149 of file BehaviorControl.h.

Referenced by GT2004StrategySymbols::computeRole(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), RobotPoseSymbols::getDefensiveSupporterRobotPoseY(), RobotPoseSymbols::getStrikerRobotPoseY(), CollectedBeliefs::update(), and OpenChallengeSymbols::update().

unsigned long& BehaviorControlInterfaces::walkParameterTimeStamp [protected]

Definition at line 184 of file BehaviorControl.h.

Referenced by GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), and GT2004BehaviorControl::handleMessage().


The documentation for this class was generated from the following file:
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