HeadControlInterfaces Class Reference

#include <HeadControl.h>

Inheritance diagram for HeadControlInterfaces:

GT2004HeadControlBasicBehavior GT2004HeadControlSymbols HeadControl HeadControlSelector GT2004BasicBehaviorDirectedScanForLandmarks Xabsl2HeadControl Xabsl2HeadControlAgentInterface GT2004HeadControl List of all members.

Public Member Functions

 HeadControlInterfaces (const unsigned long &frameNumber, const SensorDataBuffer &sensorDataBuffer, const CameraMatrix &cameraMatrix, const OdometryData &currentOdometryData, const BodyPosture &bodyPosture, const BallModel &ballModel, const RobotPose &robotPose, const LandmarksState &landmarksState, const RobotState &robotState, const MotionInfo &motionInfo, const HeadControlMode &headControlMode, const bool headIsBlockedBySpecialActionOrWalk, HeadMotionRequest &headMotionRequest, PIDData &pidData)

Protected Attributes

const unsigned long & frameNumber
const HeadControlModeheadControlMode
const RobotPoserobotPose
const CameraMatrixcameraMatrix
const OdometryDatacurrentOdometryData
const BallModelballModel
const SensorDataBuffersensorDataBuffer
const BodyPosturebodyPosture
const MotionRequestmotionRequest
const MotionInfomotionInfo
const LandmarksStatelandmarksState
const RobotStaterobotState
const bool headIsBlockedBySpecialActionOrWalk
HeadMotionRequestheadMotionRequest
PIDDatapidData

Detailed Description

The interfaces of the HeadControl module.

Definition at line 49 of file HeadControl.h.


Constructor & Destructor Documentation

HeadControlInterfaces::HeadControlInterfaces ( const unsigned long &  frameNumber,
const SensorDataBuffer sensorDataBuffer,
const CameraMatrix cameraMatrix,
const OdometryData currentOdometryData,
const BodyPosture bodyPosture,
const BallModel ballModel,
const RobotPose robotPose,
const LandmarksState landmarksState,
const RobotState robotState,
const MotionInfo motionInfo,
const HeadControlMode headControlMode,
const bool  headIsBlockedBySpecialActionOrWalk,
HeadMotionRequest headMotionRequest,
PIDData pidData 
) [inline]

Constructor.

Definition at line 53 of file HeadControl.h.


Member Data Documentation

const BallModel& HeadControlInterfaces::ballModel [protected]

The position and the speed of the ball

Definition at line 103 of file HeadControl.h.

Referenced by GT2004HeadControlSymbols::getBallConsecutivelySeenTime(), GT2004HeadControlSymbols::getBallSpeedAbs(), GT2004HeadControlSymbols::getBallTimeSinceLastSeen(), GT2004HeadControlSymbols::getCommunicatedBallDistance(), GT2004HeadControlSymbols::getRelativeBallSpeedX(), GT2004HeadControlSymbols::getRelativeBallSpeedY(), GT2004HeadControlSymbols::getSeenDistance(), and GT2004HeadControlSymbols::getTimeSinceLastSeenConsecutively().

const BodyPosture& HeadControlInterfaces::bodyPosture [protected]

The neck height and body tilt

Definition at line 109 of file HeadControl.h.

Referenced by GT2004HeadControl::simpleLookAtPointRelativeToRobot().

const CameraMatrix& HeadControlInterfaces::cameraMatrix [protected]

The position and rotation of the camera relative to the robot

Definition at line 97 of file HeadControl.h.

const OdometryData& HeadControlInterfaces::currentOdometryData [protected]

The odometry of the last Motion frame

Definition at line 100 of file HeadControl.h.

Referenced by GT2004HeadControl::setJoints().

const unsigned long& HeadControlInterfaces::frameNumber [protected]

A reference to the frame number

Definition at line 88 of file HeadControl.h.

const HeadControlMode& HeadControlInterfaces::headControlMode [protected]

A modus from the behavior how to move the head

Definition at line 91 of file HeadControl.h.

Referenced by GT2004HeadControl::execute(), and GT2004HeadControlSymbols::registerSymbols().

const bool HeadControlInterfaces::headIsBlockedBySpecialActionOrWalk [protected]

Specifies if the head is blocked by a special action or walk.

Definition at line 124 of file HeadControl.h.

Referenced by GT2004HeadControl::execute(), and GT2004HeadControlSymbols::registerSymbols().

HeadMotionRequest& HeadControlInterfaces::headMotionRequest [protected]

Head joint angles that have to be set.

Definition at line 127 of file HeadControl.h.

Referenced by Xabsl2HeadControl::executeIfEngineCouldNotBeCreated(), Xabsl2HeadControl::printGeneratedMainActionToString(), GT2004HeadControl::setJoints(), and GT2004HeadControl::setJointsDirect().

const LandmarksState& HeadControlInterfaces::landmarksState [protected]

the currently seen landmarks

Definition at line 118 of file HeadControl.h.

Referenced by GT2004HeadControl::getLastSeenBeaconIndex(), GT2004HeadControl::getTimeBetweenSeen2LastBeacons(), and GT2004HeadControl::getTimeOfLastSeenBeacon().

const MotionInfo& HeadControlInterfaces::motionInfo [protected]

information about the executed motions

Definition at line 115 of file HeadControl.h.

Referenced by GT2004HeadControlSymbols::getPositionInWalkCycle(), GT2004HeadControlSymbols::getReleasingBallLeftIsPossible(), and GT2004HeadControlSymbols::getReleasingBallRightIsPossible().

const MotionRequest& HeadControlInterfaces::motionRequest [protected]

motionRequest that is currently executed

Definition at line 112 of file HeadControl.h.

PIDData& HeadControlInterfaces::pidData [protected]

PID servo gains

Definition at line 130 of file HeadControl.h.

const RobotPose& HeadControlInterfaces::robotPose [protected]

The robots current position and orientation

Definition at line 94 of file HeadControl.h.

Referenced by GT2004HeadControl::beginBallSearchAt(), GT2004HeadControl::calculateClosestLandmark(), GT2004BasicBehaviorDirectedScanForLandmarks::execute(), GT2004HeadControlSymbols::getCommunicatedBallDistance(), GT2004HeadControl::getLookAtBallAngles(), GT2004HeadControlSymbols::getRelativeBallSpeedX(), GT2004HeadControlSymbols::getRelativeBallSpeedY(), GT2004HeadControlSymbols::getSeenDistance(), GT2004HeadControl::setJoints(), and GT2004HeadControl::simpleLookAtPointOnField().

const RobotState& HeadControlInterfaces::robotState [protected]

The current state of the robot

Definition at line 121 of file HeadControl.h.

Referenced by GT2004HeadControl::execute(), and GT2004HeadControlSymbols::getBodyPSDDetectBall().

const SensorDataBuffer& HeadControlInterfaces::sensorDataBuffer [protected]

The current body sensor data

Definition at line 106 of file HeadControl.h.

Referenced by GT2004HeadControl::execute(), GT2004HeadControl::getSensorHeadAngles(), GT2004HeadControl::GT2004HeadControl(), GT2004HeadControl::headPanIsLeft(), and GT2004HeadControl::headPositionDistanceToActualPosition().


The documentation for this class was generated from the following file:
Generated on Thu Dec 7 01:37:00 2006 for DT2005.panorama by  doxygen 1.4.7