00001 /** 00002 * @file GT2004BehaviorControl.h 00003 * 00004 * Implementation of class GT2004BehaviorControl. 00005 * 00006 * @author Martin Lötzsch 00007 * @author Matthias Jüngel 00008 */ 00009 00010 #ifndef __GT2004BehaviorControl_h_ 00011 #define __GT2004BehaviorControl_h_ 00012 00013 #include "../Xabsl2BehaviorControl.h" 00014 00015 #include "GT2004BasicBehaviors/GT2004SimpleBasicBehaviors.h" 00016 #include "GT2004BasicBehaviors/GT2004EvolutionBasicBehaviors.h" 00017 #include "GT2004BasicBehaviors/GT2004PotentialFieldBasicBehaviors.h" 00018 #include "../CommonXabsl2BasicBehaviors/CommonBasicBehaviors.h" 00019 00020 #include "../CommonXabsl2Symbols/CalibrationSymbols.h" 00021 #include "../CommonXabsl2Symbols/AngleSymbols.h" 00022 #include "../CommonXabsl2Symbols/BallSymbols.h" 00023 #include "../CommonXabsl2Symbols/HeadAndTailSymbols.h" 00024 #include "../CommonXabsl2Symbols/JoystickSymbols.h" 00025 #include "../CommonXabsl2Symbols/LEDAndSoundSymbols.h" 00026 #include "../CommonXabsl2Symbols/KickSelectionSymbols.h" 00027 #include "../CommonXabsl2Symbols/MathFunctions.h" 00028 #include "../CommonXabsl2Symbols/MotionRequestSymbols.h" 00029 #include "../CommonXabsl2Symbols/ObstaclesSymbols.h" 00030 #include "../CommonXabsl2Symbols/RoboCupGameManagerSymbols.h" 00031 #include "../CommonXabsl2Symbols/RobotPoseSymbols.h" 00032 #include "../CommonXabsl2Symbols/RobotStateSymbols.h" 00033 #include "../CommonXabsl2Symbols/SpecialVisionSymbols.h" 00034 #include "../CommonXabsl2Symbols/ChallengeSymbols.h" 00035 #include "GT2004Symbols/GT2004StrategySymbols.h" 00036 #include "GT2004Symbols/GT2004ConfigurationSymbols.h" 00037 #include "GT2004Symbols/EvolutionSymbols.h" 00038 #include "GT2004Symbols/OpenChallengeSymbols.h" 00039 00040 #include "../KickLogger.h" 00041 00042 00043 // Includes for DynamicTeamTactic 00044 #include "Tools/DynamicTeamTactic/CollectedBeliefs.h" 00045 #include "Tools/DynamicTeamTactic/OptionRating.h" 00046 #include "Tools/DynamicTeamTactic/TacticChooser.h" 00047 #include "Tools/DynamicTeamTactic/RateableOptions.h" 00048 #include "GT2004Symbols/GT2004DTTSymbols.h" 00049 #include "Tools/DynamicTeamTactic/ChooserRaterInterfaces.h" 00050 #include "GT2004DTT/DefaultOptionRating.h" 00051 #include "GT2004DTT/DefaultTacticChooser.h" 00052 00053 00054 /** 00055 * @class GT2004BehaviorControl 00056 * 00057 * A Behavior based on the Xabsl2Engine that is used by GermanTeam 00058 * for the RoboCup 2004. 00059 * 00060 * @author Martin Lötzsch 00061 * @author Matthias Jüngel 00062 */ 00063 class GT2004BehaviorControl : public Xabsl2BehaviorControl 00064 { 00065 public: 00066 /** 00067 * Constructor. 00068 * @param interfaces The paramters of the BehaviorControl module. 00069 */ 00070 GT2004BehaviorControl(BehaviorControlInterfaces& interfaces); 00071 00072 /** destructor */ 00073 ~GT2004BehaviorControl(); 00074 00075 /** Registers symbols and basic behaviors at the engine */ 00076 virtual void registerSymbolsAndBasicBehaviors(); 00077 00078 /** Sets some varibles for leds and sound before the execution of the engine */ 00079 void preExecute(); 00080 00081 /** Executes the module */ 00082 virtual void execute(); 00083 00084 /** Sets some variables for head motion and sound after the execution of the engine */ 00085 void postExecute(); 00086 00087 /** 00088 * Is called for every incoming debug message. 00089 * @param message An interface to read the message from the queue 00090 * @return if the messag was read 00091 */ 00092 virtual bool handleMessage(InMessage& message); 00093 00094 private: 00095 //!@name Symbols 00096 //!@{ 00097 CalibrationSymbols calibrationSymbols; 00098 AngleSymbols angleSymbols; 00099 BallSymbols ballSymbols; 00100 GT2004ConfigurationSymbols configurationSymbols; 00101 HeadAndTailSymbols headAndTailSymbols; 00102 JoystickSymbols joystickSymbols; 00103 LEDAndSoundSymbols ledAndSoundSymbols; 00104 KickSelectionSymbols kickSelectionSymbols; 00105 MathFunctions mathFunctions; 00106 MotionRequestSymbols motionRequestSymbols; 00107 ObstaclesSymbols obstaclesSymbols; 00108 RoboCupGameManagerSymbols roboCupGameManagerSymbols; 00109 RobotPoseSymbols robotPoseSymbols; 00110 RobotStateSymbols robotStateSymbols; 00111 SpecialVisionSymbols specialVisionSymbols; 00112 GT2004StrategySymbols strategySymbols; 00113 EvolutionSymbols evolutionSymbols; 00114 ChallengeSymbols challengeSymbols; 00115 OpenChallengeSymbols openchallengeSymbols; 00116 GT2004DTTSymbols dttSymbols; 00117 //!@} 00118 00119 //!@name Basic Behaviors 00120 //!@{ 00121 GT2004SimpleBasicBehaviors simpleBasicBehaviors; 00122 GT2004EvolutionBasicBehaviors evolutionBasicBehaviors; 00123 GT2004PotentialFieldBasicBehaviors potentialFieldBasicBehaviors; 00124 CommonBasicBehaviors commonBasicBehaviors; 00125 //!@} 00126 00127 //!@name GT2004 Evolution stuff 00128 //!@{ 00129 GT2004ParametersSet gt2004ParametersSet; 00130 GT2004Parameters gt2004ExtraParameters; 00131 Pose2D gt2004ParametersCalibration[128]; 00132 Pose2D measurementRequest; 00133 int evolutionMode; 00134 int gt2004CurrentIndex; 00135 //!@} 00136 00137 /* 00138 * Runs in parallel to the behavior control and logs the preconditions 00139 * and results of each kick. 00140 */ 00141 KickLogger kickLogger; 00142 00143 /** If quickStop is true, the robot just stands */ 00144 bool quickStop; 00145 00146 /** Indicates which HeadControlMode is set, when the robot is demobilized (quick stop)*/ 00147 HeadControlMode debugHeadControlMode; 00148 00149 // DynamicTeamTactic Section 00150 ChooserRaterInterfaces chooserRaterInterfaces; 00151 00152 // CollectedBeliefs Structure 00153 CollectedBeliefs collectedBeliefs; 00154 00155 // OptionRating engine(s) 00156 OptionRating* optionRating[RateableOptions::numOfOptionRatings]; 00157 // The actual choosen OptionRating 00158 OptionRating* actualOptionRating; 00159 00160 // TacticChooser engine(s) 00161 TacticChooser* tacticChooser[RateableOptions::numOfTacticChoosers]; 00162 // The actual choosen OptionRating 00163 TacticChooser* actualTacticChooser; 00164 00165 }; 00166 00167 #endif// __GT2004BehaviorControl_h_ 00168 00169 /* * Change log : 00170 * 00171 * $Log: GT2004BehaviorControl.h,v $ 00172 * Revision 1.14 2004/07/22 22:38:19 kerdels 00173 * added DTT used by Open Challenge, RIP and Xabsl-Options will follow 00174 * 00175 * Revision 1.13 2004/07/14 20:34:17 spranger 00176 * removed continous-basic-behaviors 00177 * 00178 * Revision 1.12 2004/07/10 00:13:59 spranger 00179 * renaming for coderelease and preparations for gt2005 00180 * 00181 * Revision 1.11 2004/06/22 18:48:56 juengel 00182 * kickAngles clean up 00183 * 00184 * Revision 1.10 2004/06/16 14:43:51 risler 00185 * added obstacles symbols 00186 * added symbol obstacles.opponent-close-to-ball 00187 * 00188 * Revision 1.9 2004/06/08 18:36:12 juengel 00189 * Added "debugHeadControlMode". 00190 * 00191 * Revision 1.8 2004/06/02 10:56:25 juengel 00192 * quickStop added 00193 * 00194 * Revision 1.7 2004/05/29 18:18:19 dueffert 00195 * walk parameter evolution, measurement and calibration stuff ported to GT2004_WM 00196 * 00197 * Revision 1.6 2004/05/27 16:48:08 loetzsch 00198 * added the kick logger 00199 * 00200 * Revision 1.5 2004/05/25 12:58:17 tim 00201 * added missing potential field files and example behavior 00202 * 00203 * Revision 1.4 2004/05/24 16:35:20 spranger 00204 * removed doProfiling 00205 * 00206 * Revision 1.3 2004/05/22 21:33:33 loetzsch 00207 * adopted kick selection table to GT2004 00208 * 00209 * Revision 1.2 2004/05/22 21:31:04 loetzsch 00210 * adopted kick selection table to GT2004 00211 * 00212 * Revision 1.1.1.1 2004/05/22 17:17:59 cvsadm 00213 * created new repository GT2004_WM 00214 * 00215 * Revision 1.3 2004/05/08 16:18:13 hamerla 00216 * Open Challenge 00217 * 00218 * Revision 1.2 2004/05/04 10:48:58 loetzsch 00219 * replaced all enums 00220 * xxxBehaviorControlTimeAfterWhichCommunicatedBallsAreAccepted 00221 * by 00222 * behaviorControlTimeAfterWhichCommunicatedBallsAreAccepted 00223 * (this mechanism was neither fully implemented nor used) 00224 * 00225 * Revision 1.1 2004/05/02 13:26:42 juengel 00226 * Added GT2004BehaviorControl. 00227 * 00228 */
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