GT2004BasicBehaviorGoToPoint Class Reference

#include <GT2004SimpleBasicBehaviors.h>

Inheritance diagram for GT2004BasicBehaviorGoToPoint:

Xabsl2BasicBehavior BehaviorControlInterfaces Xabsl2NamedItem List of all members.

Public Member Functions

 GT2004BasicBehaviorGoToPoint (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void execute ()

Protected Attributes

double x
double y
double destinationAngle
double distanceRemain
double angleRemain
double maxSpeed
double maxSpeedY
double walkType
WalkAccelerationRestrictor accelerationRestrictor

Detailed Description

A Basic Behavior for going to a point on the field
Author:
Uwe Düffert

Martin Lötzsch

Definition at line 138 of file GT2004SimpleBasicBehaviors.h.


Constructor & Destructor Documentation

GT2004BasicBehaviorGoToPoint::GT2004BasicBehaviorGoToPoint ( BehaviorControlInterfaces interfaces,
Xabsl2ErrorHandler errorHandler 
) [inline]

Definition at line 146 of file GT2004SimpleBasicBehaviors.h.

References angleRemain, destinationAngle, distanceRemain, maxSpeed, maxSpeedY, Xabsl2BasicBehavior::registerParameter(), walkType, x, and y.


Member Function Documentation

void GT2004BasicBehaviorGoToPoint::execute (  )  [virtual]

Executes the basic behavior.

Implements Xabsl2BasicBehavior.

Definition at line 483 of file GT2004SimpleBasicBehaviors.cpp.

References accelerationRestrictor, angleRemain, Geometry::angleTo(), destinationAngle, distanceRemain, Geometry::distanceTo(), fromDegrees(), max, maxSpeed, maxSpeedY, min, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, normalize(), WalkAccelerationRestrictor::restrictAccelerations(), BehaviorControlInterfaces::robotPose, Pose2D::rotation, WalkAccelerationRestrictor::saveLastWalkParameters(), toDegrees(), Pose2D::translation, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, walkType, WalkRequest::walkType, Vector2< V >::x, x, Vector2< V >::y, and y.


Member Data Documentation

WalkAccelerationRestrictor GT2004BasicBehaviorGoToPoint::accelerationRestrictor [protected]

Restricts the walk acceleration to maximum values

Definition at line 191 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute().

double GT2004BasicBehaviorGoToPoint::angleRemain [protected]

parameter "angle-remain"

Definition at line 179 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToPoint().

double GT2004BasicBehaviorGoToPoint::destinationAngle [protected]

parameter "go-to-point.destination-angle"

Definition at line 173 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToPoint().

double GT2004BasicBehaviorGoToPoint::distanceRemain [protected]

parameter "distance-remain"

Definition at line 176 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToPoint().

double GT2004BasicBehaviorGoToPoint::maxSpeed [protected]

parameter "go-to-point.max-speed"

Definition at line 182 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToPoint().

double GT2004BasicBehaviorGoToPoint::maxSpeedY [protected]

parameter "go-to-point.max-speed.y"

Definition at line 185 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToPoint().

double GT2004BasicBehaviorGoToPoint::walkType [protected]

parameter "walk-type"

Definition at line 188 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToPoint().

double GT2004BasicBehaviorGoToPoint::x [protected]

parameter "go-to-point.x"

Definition at line 167 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToPoint().

double GT2004BasicBehaviorGoToPoint::y [protected]

parameter "go-to-point.y"

Definition at line 170 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToPoint().


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:33:16 2006 for DT2005.panorama by  doxygen 1.4.7