GT2004BehaviorControl Class Reference

#include <GT2004BehaviorControl.h>

Inheritance diagram for GT2004BehaviorControl:

Xabsl2BehaviorControl BehaviorControl GTXabsl2EngineExecutor Module BehaviorControlInterfaces MessageHandler List of all members.

Public Member Functions

 GT2004BehaviorControl (BehaviorControlInterfaces &interfaces)
 ~GT2004BehaviorControl ()
virtual void registerSymbolsAndBasicBehaviors ()
void preExecute ()
virtual void execute ()
void postExecute ()
virtual bool handleMessage (InMessage &message)

Private Attributes

KickLogger kickLogger
bool quickStop
HeadControlMode debugHeadControlMode
ChooserRaterInterfaces chooserRaterInterfaces
CollectedBeliefs collectedBeliefs
OptionRatingoptionRating [RateableOptions::numOfOptionRatings]
OptionRatingactualOptionRating
TacticChoosertacticChooser [RateableOptions::numOfTacticChoosers]
TacticChooseractualTacticChooser
Symbols
CalibrationSymbols calibrationSymbols
AngleSymbols angleSymbols
BallSymbols ballSymbols
GT2004ConfigurationSymbols configurationSymbols
HeadAndTailSymbols headAndTailSymbols
JoystickSymbols joystickSymbols
LEDAndSoundSymbols ledAndSoundSymbols
KickSelectionSymbols kickSelectionSymbols
MathFunctions mathFunctions
MotionRequestSymbols motionRequestSymbols
ObstaclesSymbols obstaclesSymbols
RoboCupGameManagerSymbols roboCupGameManagerSymbols
RobotPoseSymbols robotPoseSymbols
RobotStateSymbols robotStateSymbols
SpecialVisionSymbols specialVisionSymbols
TaskVisionSymbols taskVisionSymbols
GT2004StrategySymbols strategySymbols
EvolutionSymbols evolutionSymbols
ChallengeSymbols challengeSymbols
OpenChallengeSymbols openchallengeSymbols
GT2004DTTSymbols dttSymbols
SLAMSymbols slamSymbols
Basic Behaviors
GT2004SimpleBasicBehaviors simpleBasicBehaviors
GT2004EvolutionBasicBehaviors evolutionBasicBehaviors
GT2004PotentialFieldBasicBehaviors potentialFieldBasicBehaviors
CommonBasicBehaviors commonBasicBehaviors
GT2004 Evolution stuff
GT2004ParametersSet gt2004ParametersSet
GT2004Parameters gt2004ExtraParameters
Pose2D gt2004ParametersCalibration [128]
Pose2D measurementRequest
int evolutionMode
int gt2004CurrentIndex

Detailed Description

A Behavior based on the Xabsl2Engine that is used by GermanTeam for the RoboCup 2004.

Author:
Martin Lötzsch

Matthias Jüngel

Definition at line 72 of file GT2004BehaviorControl.h.


Constructor & Destructor Documentation

GT2004BehaviorControl::GT2004BehaviorControl ( BehaviorControlInterfaces interfaces  ) 

Constructor.

Parameters:
interfaces The paramters of the BehaviorControl module.

Definition at line 20 of file GT2004BehaviorControl.cpp.

References actualOptionRating, actualTacticChooser, ASSERT, chooserRaterInterfaces, collectedBeliefs, RateableOptions::defaultOptionRating, RateableOptions::defaultTacticChooser, GT2004ParametersSet::getParameters(), gt2004CurrentIndex, gt2004ExtraParameters, gt2004ParametersCalibration, gt2004ParametersSet, GT2004Parameters::index, GTXabsl2EngineExecutor::init(), ChooserRaterInterfaces::lastChoosenOption, measurementRequest, RateableOptions::noOption, GT2004ParametersSet::numberOfParameters, optionRating, GTXabsl2EngineExecutor::pEngine, quickStop, GT2004Parameters::requestedMotion, and tacticChooser.

GT2004BehaviorControl::~GT2004BehaviorControl (  ) 

destructor

Definition at line 86 of file GT2004BehaviorControl.cpp.

References actualTacticChooser, RateableOptions::defaultOptionRating, RateableOptions::defaultTacticChooser, optionRating, and tacticChooser.


Member Function Documentation

void GT2004BehaviorControl::execute (  )  [virtual]

Executes the module

Implements Module.

Definition at line 238 of file GT2004BehaviorControl.cpp.

References angleSymbols, ballSymbols, configurationSymbols, evolutionSymbols, KickLogger::execute(), GTXabsl2EngineExecutor::executeEngine(), kickLogger, obstaclesSymbols, openchallengeSymbols, postExecute(), potentialFieldBasicBehaviors, preExecute(), roboCupGameManagerSymbols, robotPoseSymbols, BehaviorControlInterfaces::slamData, strategySymbols, GT2004PotentialFieldBasicBehaviors::update(), OpenChallengeSymbols::update(), EvolutionSymbols::update(), GT2004StrategySymbols::update(), RobotPoseSymbols::update(), RoboCupGameManagerSymbols::update(), ObstaclesSymbols::update(), GT2004ConfigurationSymbols::update(), BallSymbols::update(), AngleSymbols::update(), and SLAMData::updateFromXablsOutputSymbols().

bool GT2004BehaviorControl::handleMessage ( InMessage message  )  [virtual]

Is called for every incoming debug message.

Parameters:
message An interface to read the message from the queue
Returns:
if the messag was read

Reimplemented from Xabsl2BehaviorControl.

Definition at line 468 of file GT2004BehaviorControl.cpp.

References actualTacticChooser, InMessage::bin, evolutionMode, SystemCall::getCurrentSystemTime(), GT2004ParametersSet::getIndexOfMirror(), GT2004ParametersSet::getIndexString(), InMessage::getMessageID(), GT2004ParametersSet::getParameters(), GT2004ParametersSet::getSpeed(), gt2004CurrentIndex, gt2004ExtraParameters, BehaviorControlInterfaces::gt2004Parameters, gt2004ParametersCalibration, gt2004ParametersSet, TacticChooser::handleMessage(), KickSelectionSymbols::handleMessage(), Xabsl2BehaviorControl::handleMessage(), idGT2004EvolutionRequest, idGT2004Parameters, idText, GT2004Parameters::index, int(), kickSelectionSymbols, GT2004ParametersSet::load(), measurementRequest, GT2004ParametersSet::numberOfParameters, OUTPUT, GT2004Parameters::requestedMotion, Pose2D::rotation, GT2004ParametersSet::save(), GT2004ParametersSet::setSpeed(), text, Pose2D::translation, BehaviorControlInterfaces::walkParameterTimeStamp, Vector2< V >::x, and Vector2< V >::y.

void GT2004BehaviorControl::postExecute (  ) 

Sets some variables for head motion and sound after the execution of the engine

Definition at line 267 of file GT2004BehaviorControl.cpp.

References AngleSymbols::angleShownByLEDs, angleSymbols, BodyPercept::backBack, BodyPercept::backFront, LEDRequest::backFrontBlueLED, LEDRequest::backFrontWhiteLED, BodyPercept::backMiddle, LEDRequest::backMiddleOrangeLED, LEDRequest::backMiddleWhiteLED, LEDRequest::backRearRedLED, LEDRequest::backRearWhiteLED, BehaviorControlInterfaces::ballModel, BallState::ballRollsByLeft, BallState::ballRollsByRight, BallState::ballRollsFast, BallState::ballRollsTowardsRobot, BallModel::ballState, SoundRequest::bark2, SoundRequest::bing01, SoundRequest::bing03, Player::blue, BodyPercept::chin, SensorData::chin, GTXabsl2Profiler::collectProfiles, RobotState::crashed, SensorData::data, debugHeadControlMode, BehaviorTeamMessage::defensiveSupporter, GTXabsl2Profiler::dontCollectProfiles, MotionInfo::executedMotionRequest, LEDRequest::faceLED, SensorDataBuffer::frame, BehaviorTeamMessage::gameState, AngleSymbols::getAngle(), RobotState::getButtonDuration(), RobotState::getButtonPressed(), getPlayer(), RobotState::getState(), Player::getTeamColor(), MotionRequest::getup, BodyPercept::head, HeadControlMode::headControlMode, BehaviorControlInterfaces::headControlMode, BehaviorTeamMessage::initial, SensorDataBuffer::lastFrame(), BehaviorControlInterfaces::ledRequest, LEDRequest::llll, LEDRequest::lloo, LEDRequest::lolo, HeadControlMode::lookToStars, BehaviorControlInterfaces::motionInfo, BehaviorControlInterfaces::motionRequest, MotionRequest::motionType, HeadControlMode::none, normalize(), ObstaclesSymbols::obstaclesAreClose, obstaclesSymbols, BehaviorTeamMessage::offensiveSupporter, LEDRequest::olol, Player::one, LEDRequest::oooo, BehaviorControlInterfaces::outgoingBehaviorTeamMessage, BehaviorTeamMessage::penalized, GTXabsl2EngineExecutor::profiler, GTXabsl2Profiler::profilerCollectMode, GTXabsl2Profiler::profilerWriteMode, quickStop, BehaviorTeamMessage::ready, Player::red, SoundRequest::rob101, ObstaclesSymbols::robotIsStuck, BehaviorControlInterfaces::robotState, GT2004StrategySymbols::role, RobotState::rollLeft, RobotState::rollRight, HeadControlMode::searchForBall, BehaviorControlInterfaces::sensorDataBuffer, BehaviorTeamMessage::set, BehaviorTeamMessage::sleep, SoundRequest::soundID, BehaviorControlInterfaces::soundRequest, MotionRequest::stand, HeadControlMode::stayAsForced, strategySymbols, BehaviorTeamMessage::striker, toDegrees(), AngleSymbols::undefined, WalkRequest::upsideDown, MotionRequest::walk, MotionRequest::walkRequest, WalkRequest::walkType, and GTXabsl2Profiler::writeCompleteProfiles.

Referenced by execute().

void GT2004BehaviorControl::preExecute (  ) 

Sets some varibles for leds and sound before the execution of the engine

Definition at line 125 of file GT2004BehaviorControl.cpp.

References LEDRequest::backFrontWhiteLED, LEDRequest::backMiddleOrangeLED, LEDRequest::backMiddleWhiteLED, LEDRequest::backRearWhiteLED, BehaviorControlInterfaces::ballModel, BallModel::ballWasSeen, LEDRequest::faceLED, LEDRequest::headOrangeLED, LEDRequest::headWhiteLED, BehaviorControlInterfaces::ledRequest, LEDRequest::llll, BehaviorTeamMessage::message, BehaviorControlInterfaces::motionRequest, BehaviorTeamMessage::none, TailRequest::noTailWag, LEDRequest::oooo, BehaviorControlInterfaces::outgoingBehaviorTeamMessage, MotionRequest::tailRequest, and TailRequest::tailRequestID.

Referenced by execute().

void GT2004BehaviorControl::registerSymbolsAndBasicBehaviors (  )  [virtual]

Registers symbols and basic behaviors at the engine

Implements GTXabsl2EngineExecutor.

Definition at line 95 of file GT2004BehaviorControl.cpp.

References angleSymbols, ballSymbols, calibrationSymbols, challengeSymbols, commonBasicBehaviors, configurationSymbols, dttSymbols, evolutionBasicBehaviors, evolutionSymbols, headAndTailSymbols, joystickSymbols, kickSelectionSymbols, ledAndSoundSymbols, mathFunctions, motionRequestSymbols, obstaclesSymbols, openchallengeSymbols, GTXabsl2EngineExecutor::pEngine, potentialFieldBasicBehaviors, CommonBasicBehaviors::registerBasicBehaviors(), GT2004PotentialFieldBasicBehaviors::registerBasicBehaviors(), GT2004EvolutionBasicBehaviors::registerBasicBehaviors(), GT2004SimpleBasicBehaviors::registerBasicBehaviors(), SLAMSymbols::registerSymbols(), GT2004DTTSymbols::registerSymbols(), ChallengeSymbols::registerSymbols(), OpenChallengeSymbols::registerSymbols(), EvolutionSymbols::registerSymbols(), GT2004StrategySymbols::registerSymbols(), SpecialVisionSymbols::registerSymbols(), TaskVisionSymbols::registerSymbols(), RobotStateSymbols::registerSymbols(), RobotPoseSymbols::registerSymbols(), RoboCupGameManagerSymbols::registerSymbols(), ObstaclesSymbols::registerSymbols(), MotionRequestSymbols::registerSymbols(), MathFunctions::registerSymbols(), KickSelectionSymbols::registerSymbols(), LEDAndSoundSymbols::registerSymbols(), JoystickSymbols::registerSymbols(), HeadAndTailSymbols::registerSymbols(), GT2004ConfigurationSymbols::registerSymbols(), BallSymbols::registerSymbols(), AngleSymbols::registerSymbols(), CalibrationSymbols::registerSymbols(), roboCupGameManagerSymbols, robotPoseSymbols, robotStateSymbols, simpleBasicBehaviors, slamSymbols, specialVisionSymbols, strategySymbols, and taskVisionSymbols.


Member Data Documentation

OptionRating* GT2004BehaviorControl::actualOptionRating [private]

Definition at line 169 of file GT2004BehaviorControl.h.

Referenced by GT2004BehaviorControl().

TacticChooser* GT2004BehaviorControl::actualTacticChooser [private]

Definition at line 174 of file GT2004BehaviorControl.h.

Referenced by GT2004BehaviorControl(), handleMessage(), and ~GT2004BehaviorControl().

AngleSymbols GT2004BehaviorControl::angleSymbols [private]

Definition at line 107 of file GT2004BehaviorControl.h.

Referenced by execute(), postExecute(), and registerSymbolsAndBasicBehaviors().

BallSymbols GT2004BehaviorControl::ballSymbols [private]

Definition at line 108 of file GT2004BehaviorControl.h.

Referenced by execute(), and registerSymbolsAndBasicBehaviors().

CalibrationSymbols GT2004BehaviorControl::calibrationSymbols [private]

Definition at line 106 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().

ChallengeSymbols GT2004BehaviorControl::challengeSymbols [private]

Definition at line 124 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().

ChooserRaterInterfaces GT2004BehaviorControl::chooserRaterInterfaces [private]

Definition at line 161 of file GT2004BehaviorControl.h.

Referenced by GT2004BehaviorControl().

CollectedBeliefs GT2004BehaviorControl::collectedBeliefs [private]

Definition at line 164 of file GT2004BehaviorControl.h.

Referenced by GT2004BehaviorControl().

CommonBasicBehaviors GT2004BehaviorControl::commonBasicBehaviors [private]

Definition at line 135 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().

GT2004ConfigurationSymbols GT2004BehaviorControl::configurationSymbols [private]

Definition at line 109 of file GT2004BehaviorControl.h.

Referenced by execute(), and registerSymbolsAndBasicBehaviors().

HeadControlMode GT2004BehaviorControl::debugHeadControlMode [private]

Indicates which HeadControlMode is set, when the robot is demobilized (quick stop)

Definition at line 158 of file GT2004BehaviorControl.h.

Referenced by postExecute().

GT2004DTTSymbols GT2004BehaviorControl::dttSymbols [private]

Definition at line 126 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().

GT2004EvolutionBasicBehaviors GT2004BehaviorControl::evolutionBasicBehaviors [private]

Definition at line 133 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().

int GT2004BehaviorControl::evolutionMode [private]

Definition at line 144 of file GT2004BehaviorControl.h.

Referenced by handleMessage().

EvolutionSymbols GT2004BehaviorControl::evolutionSymbols [private]

Definition at line 123 of file GT2004BehaviorControl.h.

Referenced by execute(), and registerSymbolsAndBasicBehaviors().

int GT2004BehaviorControl::gt2004CurrentIndex [private]

Definition at line 145 of file GT2004BehaviorControl.h.

Referenced by GT2004BehaviorControl(), and handleMessage().

GT2004Parameters GT2004BehaviorControl::gt2004ExtraParameters [private]

Definition at line 141 of file GT2004BehaviorControl.h.

Referenced by GT2004BehaviorControl(), and handleMessage().

Pose2D GT2004BehaviorControl::gt2004ParametersCalibration[128] [private]

Definition at line 142 of file GT2004BehaviorControl.h.

Referenced by GT2004BehaviorControl(), and handleMessage().

GT2004ParametersSet GT2004BehaviorControl::gt2004ParametersSet [private]

Definition at line 140 of file GT2004BehaviorControl.h.

Referenced by GT2004BehaviorControl(), and handleMessage().

HeadAndTailSymbols GT2004BehaviorControl::headAndTailSymbols [private]

Definition at line 110 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().

JoystickSymbols GT2004BehaviorControl::joystickSymbols [private]

Definition at line 111 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().

KickLogger GT2004BehaviorControl::kickLogger [private]

Definition at line 152 of file GT2004BehaviorControl.h.

Referenced by execute().

KickSelectionSymbols GT2004BehaviorControl::kickSelectionSymbols [private]

Definition at line 113 of file GT2004BehaviorControl.h.

Referenced by handleMessage(), and registerSymbolsAndBasicBehaviors().

LEDAndSoundSymbols GT2004BehaviorControl::ledAndSoundSymbols [private]

Definition at line 112 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().

MathFunctions GT2004BehaviorControl::mathFunctions [private]

Definition at line 114 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().

Pose2D GT2004BehaviorControl::measurementRequest [private]

Definition at line 143 of file GT2004BehaviorControl.h.

Referenced by GT2004BehaviorControl(), and handleMessage().

MotionRequestSymbols GT2004BehaviorControl::motionRequestSymbols [private]

Definition at line 115 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().

ObstaclesSymbols GT2004BehaviorControl::obstaclesSymbols [private]

Definition at line 116 of file GT2004BehaviorControl.h.

Referenced by execute(), postExecute(), and registerSymbolsAndBasicBehaviors().

OpenChallengeSymbols GT2004BehaviorControl::openchallengeSymbols [private]

Definition at line 125 of file GT2004BehaviorControl.h.

Referenced by execute(), and registerSymbolsAndBasicBehaviors().

OptionRating* GT2004BehaviorControl::optionRating[RateableOptions::numOfOptionRatings] [private]

Definition at line 167 of file GT2004BehaviorControl.h.

Referenced by GT2004BehaviorControl(), and ~GT2004BehaviorControl().

GT2004PotentialFieldBasicBehaviors GT2004BehaviorControl::potentialFieldBasicBehaviors [private]

Definition at line 134 of file GT2004BehaviorControl.h.

Referenced by execute(), and registerSymbolsAndBasicBehaviors().

bool GT2004BehaviorControl::quickStop [private]

If quickStop is true, the robot just stands

Definition at line 155 of file GT2004BehaviorControl.h.

Referenced by GT2004BehaviorControl(), and postExecute().

RoboCupGameManagerSymbols GT2004BehaviorControl::roboCupGameManagerSymbols [private]

Definition at line 117 of file GT2004BehaviorControl.h.

Referenced by execute(), and registerSymbolsAndBasicBehaviors().

RobotPoseSymbols GT2004BehaviorControl::robotPoseSymbols [private]

Definition at line 118 of file GT2004BehaviorControl.h.

Referenced by execute(), and registerSymbolsAndBasicBehaviors().

RobotStateSymbols GT2004BehaviorControl::robotStateSymbols [private]

Definition at line 119 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().

GT2004SimpleBasicBehaviors GT2004BehaviorControl::simpleBasicBehaviors [private]

Definition at line 132 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().

SLAMSymbols GT2004BehaviorControl::slamSymbols [private]

Definition at line 127 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().

SpecialVisionSymbols GT2004BehaviorControl::specialVisionSymbols [private]

Definition at line 120 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().

GT2004StrategySymbols GT2004BehaviorControl::strategySymbols [private]

Definition at line 122 of file GT2004BehaviorControl.h.

Referenced by execute(), postExecute(), and registerSymbolsAndBasicBehaviors().

TacticChooser* GT2004BehaviorControl::tacticChooser[RateableOptions::numOfTacticChoosers] [private]

Definition at line 172 of file GT2004BehaviorControl.h.

Referenced by GT2004BehaviorControl(), and ~GT2004BehaviorControl().

TaskVisionSymbols GT2004BehaviorControl::taskVisionSymbols [private]

Definition at line 121 of file GT2004BehaviorControl.h.

Referenced by registerSymbolsAndBasicBehaviors().


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:33:43 2006 for DT2005.panorama by  doxygen 1.4.7