EvolutionSymbols Class Reference

#include <EvolutionSymbols.h>

Inheritance diagram for EvolutionSymbols:

Xabsl2FunctionProvider BehaviorControlInterfaces List of all members.

Public Member Functions

 EvolutionSymbols (const BehaviorControlInterfaces &interfaces, GT2004ParametersSet &gt2004ParametersSet, Pose2D *gt2004ParametersCalibration, int &gt2004CurrentIndex, Pose2D &measurementRequest, int &evolutionMode)
void registerSymbols (Xabsl2Engine &engine)
void update ()
bool getCurrentGT2004ParametersMeasureBlind ()
double getQualityOfCurrentGT2004Parameters ()
void estimateTimeToReachBall ()
void computeRole ()
Input symbols
double getRobotNumber ()
bool getAnotherPlayerIsInReadyState ()
bool getAnotherTeammateIsPreparingAKick ()
bool getAnotherTeammateIsPerformingAKick ()
bool getAnotherTeammateJustPerformedAKick ()
bool getTheStrikerIsPlayingNearTheOpponentGoal ()
bool getTheStrikerIsNotPlayingNearTheOpponentGoal ()
bool getTheStrikerIsPlayingNearTheOwnGoal ()
bool getTheStrikerIsNotPlayingNearTheOwnGoal ()
bool getCaught ()
double getCatchTime ()
double getSearchBallX ()

Public Attributes

double estimatedTimeToReachBall
unsigned long timeOfLastGoodSelfLocalization
double durationOfBadSelfLocalization
Vector2< double > currentGT2004ParametersStartPosition
double currentGT2004ParametersStartDirection
BehaviorTeamMessage::DynamicRole role
unsigned long timeWhenBallWasStartedToCatch
unsigned long timeUntilBallWasCaught
bool robotIsStuck
bool obstaclesAreClose

Private Attributes

GT2004ParametersSetgt2004ParametersSet
Pose2Dgt2004ParametersCalibration
int & gt2004CurrentIndex
Pose2DmeasurementRequest
int & evolutionMode

Detailed Description

The Xabsl2 symbols that are defined in "evolution-symbols.xml"

Author:
Uwe Düffert

Definition at line 21 of file EvolutionSymbols.h.


Constructor & Destructor Documentation

EvolutionSymbols::EvolutionSymbols ( const BehaviorControlInterfaces interfaces,
GT2004ParametersSet gt2004ParametersSet,
Pose2D gt2004ParametersCalibration,
int &  gt2004CurrentIndex,
Pose2D measurementRequest,
int &  evolutionMode 
)

Definition at line 13 of file EvolutionSymbols.cpp.


Member Function Documentation

void EvolutionSymbols::computeRole (  ) 

computes the current role

void EvolutionSymbols::estimateTimeToReachBall (  ) 

computes the estimated time to reach the ball

bool EvolutionSymbols::getAnotherPlayerIsInReadyState (  ) 

A function for the symbol "another-player-is-in-ready-state".

bool EvolutionSymbols::getAnotherTeammateIsPerformingAKick (  ) 

A function for the symbol "another-teammate-is-performing-a-kick"

bool EvolutionSymbols::getAnotherTeammateIsPreparingAKick (  ) 

A function for the symbol "another-teammate-is-preparing-a-kick"

bool EvolutionSymbols::getAnotherTeammateJustPerformedAKick (  ) 

A function for the symbol "another-teammate-just-performed-a-kick"

double EvolutionSymbols::getCatchTime (  ) 

A function for the symbol "catch-ball-time"

bool EvolutionSymbols::getCaught (  ) 

A funtion for the symbol "catch-ball"

bool EvolutionSymbols::getCurrentGT2004ParametersMeasureBlind (  ) 

A function for the symbol "current-gt2004-parameters-measure-blind".

Definition at line 161 of file EvolutionSymbols.cpp.

References gt2004CurrentIndex, gt2004ParametersCalibration, measurementRequest, and Pose2D::rotation.

Referenced by registerSymbols().

double EvolutionSymbols::getQualityOfCurrentGT2004Parameters (  ) 

Gives a percentage of how good current gt2004Parameters fullfill its purpose

Definition at line 168 of file EvolutionSymbols.cpp.

References gt2004CurrentIndex, gt2004ParametersCalibration, and measurementRequest.

Referenced by registerSymbols().

double EvolutionSymbols::getRobotNumber (  )  [inline]

Definition at line 73 of file EvolutionSymbols.h.

References getPlayer(), and Player::getPlayerNumber().

double EvolutionSymbols::getSearchBallX (  ) 

A function for the symbol "search-ball.x"

bool EvolutionSymbols::getTheStrikerIsNotPlayingNearTheOpponentGoal (  ) 

A function for the symbol "the-striker-is-not-playing-near-the-opponent-goal"

bool EvolutionSymbols::getTheStrikerIsNotPlayingNearTheOwnGoal (  ) 

A function for the symbol "the-striker-is-not-playing-near-the-own-goal"

bool EvolutionSymbols::getTheStrikerIsPlayingNearTheOpponentGoal (  ) 

A function for the symbol "the-striker-is-playing-near-the-opponent-goal"

bool EvolutionSymbols::getTheStrikerIsPlayingNearTheOwnGoal (  ) 

A function for the symbol "the-striker-is-playing-near-the-own-goal"

void EvolutionSymbols::registerSymbols ( Xabsl2Engine engine  ) 

registers the symbols at an engine

Definition at line 33 of file EvolutionSymbols.cpp.

References currentGT2004ParametersStartDirection, currentGT2004ParametersStartPosition, durationOfBadSelfLocalization, getCurrentGT2004ParametersMeasureBlind(), getQualityOfCurrentGT2004Parameters(), Xabsl2Symbols::registerBooleanInputSymbol(), Xabsl2Symbols::registerDecimalInputSymbol(), Vector2< V >::x, and Vector2< V >::y.

Referenced by GT2004BehaviorControl::registerSymbolsAndBasicBehaviors().

void EvolutionSymbols::update (  ) 

updates the symbols

Definition at line 50 of file EvolutionSymbols.cpp.

References currentGT2004ParametersStartDirection, currentGT2004ParametersStartPosition, durationOfBadSelfLocalization, SystemCall::getCurrentSystemTime(), GT2004ParametersSet::getRatio(), SystemCall::getTimeSince(), RobotPose::getValidity(), gt2004CurrentIndex, gt2004ParametersCalibration, measurementRequest, pi, BehaviorControlInterfaces::robotPose, Pose2D::rotation, timeOfLastGoodSelfLocalization, Pose2D::translation, Vector2< V >::x, and Vector2< V >::y.

Referenced by GT2004BehaviorControl::execute().


Member Data Documentation

double EvolutionSymbols::currentGT2004ParametersStartDirection

a direction useful for starting to measure the performance of the current GT2004Parameters, must be in deg

Definition at line 52 of file EvolutionSymbols.h.

Referenced by registerSymbols(), and update().

Vector2<double> EvolutionSymbols::currentGT2004ParametersStartPosition

a position useful for starting to measure the performance of the current GT2004Parameters

Definition at line 50 of file EvolutionSymbols.h.

Referenced by registerSymbols(), and update().

double EvolutionSymbols::durationOfBadSelfLocalization

current duration since robot pose validity was above 0.5 (in s)

Definition at line 47 of file EvolutionSymbols.h.

Referenced by registerSymbols(), and update().

double EvolutionSymbols::estimatedTimeToReachBall

current estimated time to reach the ball

Definition at line 42 of file EvolutionSymbols.h.

int& EvolutionSymbols::evolutionMode [private]

Definition at line 128 of file EvolutionSymbols.h.

int& EvolutionSymbols::gt2004CurrentIndex [private]

Definition at line 126 of file EvolutionSymbols.h.

Referenced by getCurrentGT2004ParametersMeasureBlind(), getQualityOfCurrentGT2004Parameters(), and update().

Pose2D* EvolutionSymbols::gt2004ParametersCalibration [private]

Definition at line 125 of file EvolutionSymbols.h.

Referenced by getCurrentGT2004ParametersMeasureBlind(), getQualityOfCurrentGT2004Parameters(), and update().

GT2004ParametersSet& EvolutionSymbols::gt2004ParametersSet [private]

GT2004 Evolution stuff

Definition at line 124 of file EvolutionSymbols.h.

Pose2D& EvolutionSymbols::measurementRequest [private]

Definition at line 127 of file EvolutionSymbols.h.

Referenced by getCurrentGT2004ParametersMeasureBlind(), getQualityOfCurrentGT2004Parameters(), and update().

bool EvolutionSymbols::obstaclesAreClose

Indicates that there are close obstacles

Definition at line 120 of file EvolutionSymbols.h.

bool EvolutionSymbols::robotIsStuck

Indicates if the robot is stuck (based on obstacles model)

Definition at line 117 of file EvolutionSymbols.h.

BehaviorTeamMessage::DynamicRole EvolutionSymbols::role

current role

Definition at line 62 of file EvolutionSymbols.h.

unsigned long EvolutionSymbols::timeOfLastGoodSelfLocalization

last time the robot pose validity was above 0.5

Definition at line 45 of file EvolutionSymbols.h.

Referenced by update().

unsigned long EvolutionSymbols::timeUntilBallWasCaught

The time until the ball was caught

Definition at line 114 of file EvolutionSymbols.h.

unsigned long EvolutionSymbols::timeWhenBallWasStartedToCatch

The time when the ball was started to catch

Definition at line 111 of file EvolutionSymbols.h.


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