GT2004BasicBehaviorGoToBall Class Reference

#include <GT2004SimpleBasicBehaviors.h>

Inheritance diagram for GT2004BasicBehaviorGoToBall:

Xabsl2BasicBehavior BehaviorControlInterfaces Xabsl2NamedItem List of all members.

Public Member Functions

 GT2004BasicBehaviorGoToBall (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void execute ()

Private Attributes

double distanceAtEnd
double maxSpeed
double maxSpeedY
WalkAccelerationRestrictor accelerationRestrictor
double targetAngleToBall
double yOffset
double walkType
double maxTurnSpeed

Detailed Description

A Basic Behavior for going to the ball
Author:
Matthias Jüngel

Martin Lötzsch

Jan Hoffmann

Definition at line 29 of file GT2004SimpleBasicBehaviors.h.


Constructor & Destructor Documentation

GT2004BasicBehaviorGoToBall::GT2004BasicBehaviorGoToBall ( BehaviorControlInterfaces interfaces,
Xabsl2ErrorHandler errorHandler 
) [inline]

Definition at line 37 of file GT2004SimpleBasicBehaviors.h.

References distanceAtEnd, maxSpeed, maxSpeedY, maxTurnSpeed, Xabsl2BasicBehavior::registerParameter(), targetAngleToBall, walkType, and yOffset.


Member Function Documentation

void GT2004BasicBehaviorGoToBall::execute (  )  [virtual]

Executes the basic behavior.

Implements Xabsl2BasicBehavior.

Definition at line 32 of file GT2004SimpleBasicBehaviors.cpp.

References Geometry::angleTo(), BehaviorControlInterfaces::ballModel, BallModel::behaviorControlTimeAfterWhichCommunicatedBallsAreAccepted, Geometry::distanceTo(), fromDegrees(), BallModel::getKnownPosition(), RobotPose::getPose(), max, maxSpeed, maxSpeedY, maxTurnSpeed, min, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, Vector2< V >::normalize(), pi, BehaviorControlInterfaces::robotPose, Pose2D::rotation, targetAngleToBall, Pose2D::translation, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, walkType, WalkRequest::walkType, Vector2< V >::x, Vector2< V >::y, and yOffset.


Member Data Documentation

WalkAccelerationRestrictor GT2004BasicBehaviorGoToBall::accelerationRestrictor [private]

Restricts the walk acceleration to maximum values

Definition at line 66 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorGoToBall::distanceAtEnd [private]

parameter "go-to-ball.distance"

Definition at line 57 of file GT2004SimpleBasicBehaviors.h.

Referenced by GT2004BasicBehaviorGoToBall().

double GT2004BasicBehaviorGoToBall::maxSpeed [private]

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

Definition at line 60 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToBall().

double GT2004BasicBehaviorGoToBall::maxSpeedY [private]

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

Definition at line 63 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToBall().

double GT2004BasicBehaviorGoToBall::maxTurnSpeed [private]

parameter "max-turn-speed"

Definition at line 78 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToBall().

double GT2004BasicBehaviorGoToBall::targetAngleToBall [private]

parameter "go-to-ball.target-angle-to-ball"

Definition at line 69 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToBall().

double GT2004BasicBehaviorGoToBall::walkType [private]

parameter "walk-type"

Definition at line 75 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToBall().

double GT2004BasicBehaviorGoToBall::yOffset [private]

parameter "go-to-ball.y-offset"

Definition at line 72 of file GT2004SimpleBasicBehaviors.h.

Referenced by execute(), and GT2004BasicBehaviorGoToBall().


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:33:13 2006 for DT2005.panorama by  doxygen 1.4.7