AngleSymbols Class Reference

The Xabsl2 symbols that are defined in "angle-symbols.xml". More...

#include <AngleSymbols.h>

Inheritance diagram for AngleSymbols:

[legend]Collaboration diagram for AngleSymbols:

[legend]List of all members.

Public Types
enum	Angles {   undefined, angleToCenterOfField, angleToOpponentGoal,   angleToLeftOpponentGoalPost, angleToRightOpponentGoalPost, angleToLeftOpponentGoalCorner,   angleToRightOpponentGoalCorner, angleToPointBehindOpponentGoal, angleToFreePartOfOpponentGoal,   bestAngleToOpponentGoal, bestAngleToOpponentGoalNoObstacles, bestAngleAwayFromOwnGoal,   bestAngleAwayFromOwnGoalNoObstacles, goalieGoalKickAngle, numberOfAngles }
	The angle that is shown by the top white LEDs. More...
Public Member Functions
	AngleSymbols (const BehaviorControlInterfaces &interfaces)
void	registerSymbols (Xabsl2Engine &engine)
	registers the symbols at an engine
void	update ()
	updates the symbols
double	getAngle (Angles id)
void	drawAngleShownByLeds ()
Input symbols
double	getAngleToCenterOfField ()
double	getAngleToOpponentGoal ()
double	getAngleToPointBehindOpponentGoal ()
double	getBestAngleToOpponentGoal ()
double	getBestAngleToOpponentGoalNoObstacles ()
double	getBestAngleAwayFromOwnGoal ()
double	getBestAngleAwayFromOwnGoalNoObstacles ()
double	getGoalieGoalKickAngle ()
Static Public Member Functions
const char *	getAngleName (Angles id)
Public Attributes
Angles	angleShownByLEDs
Private Member Functions
void	calculateVisionBasedAngles ()
void	calculateLocalisationBasedAngles ()
void	calculateCombinedAngles ()
Private Attributes
double	angles [numberOfAngles]

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Detailed Description

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

Author:

Matthias Jüngel

Definition at line 22 of file AngleSymbols.h.

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Member Enumeration Documentation

enum AngleSymbols::Angles

The angle that is shown by the top white LEDs. Enumeration values: undefined  angleToCenterOfField  angleToOpponentGoal  angleToLeftOpponentGoalPost  angleToRightOpponentGoalPost  angleToLeftOpponentGoalCorner  angleToRightOpponentGoalCorner  angleToPointBehindOpponentGoal  angleToFreePartOfOpponentGoal  bestAngleToOpponentGoal  bestAngleToOpponentGoalNoObstacles  bestAngleAwayFromOwnGoal  bestAngleAwayFromOwnGoalNoObstacles  goalieGoalKickAngle  numberOfAngles  Definition at line 55 of file AngleSymbols.h. Referenced by registerSymbols().

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Constructor & Destructor Documentation

AngleSymbols::AngleSymbols (  const BehaviorControlInterfaces &  interfaces  )

Definition at line 16 of file AngleSymbols.cpp. References angleShownByLEDs.

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Member Function Documentation

void AngleSymbols::registerSymbols (  Xabsl2Engine &  engine  )

registers the symbols at an engine Definition at line 24 of file AngleSymbols.cpp. References Angles, angleShownByLEDs, getAngleName(), getAngleToCenterOfField(), getAngleToOpponentGoal(), getAngleToPointBehindOpponentGoal(), getBestAngleAwayFromOwnGoal(), getBestAngleAwayFromOwnGoalNoObstacles(), getBestAngleToOpponentGoal(), getBestAngleToOpponentGoalNoObstacles(), getGoalieGoalKickAngle(), getXmlString(), numberOfAngles, Xabsl2Symbols::registerDecimalInputSymbol(), Xabsl2Symbols::registerEnumeratedOutputSymbol(), and Xabsl2Symbols::registerEnumeratedOutputSymbolEnumElement(). Referenced by GT2004BehaviorControl::registerSymbolsAndBasicBehaviors().

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void AngleSymbols::update (   )

updates the symbols Definition at line 70 of file AngleSymbols.cpp. References calculateCombinedAngles(), calculateLocalisationBasedAngles(), calculateVisionBasedAngles(), and drawAngleShownByLeds(). Referenced by GT2004BehaviorControl::execute().

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double AngleSymbols::getAngleToCenterOfField (   )

calculates the value for the symbol "robot-pose.best-angle-away-from-own-goal" Definition at line 79 of file AngleSymbols.cpp. References angleToCenterOfField, normalize(), and toDegrees(). Referenced by registerSymbols().

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double AngleSymbols::getAngleToOpponentGoal (   )

A function for the symbol "robot-pose.angle-to-opponent-goal" Definition at line 80 of file AngleSymbols.cpp. References angleToOpponentGoal, normalize(), and toDegrees(). Referenced by registerSymbols().

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double AngleSymbols::getAngleToPointBehindOpponentGoal (   )

calculates the value for the symbol "robot-pose.angle-to-point-behind-opponent-goal" Definition at line 81 of file AngleSymbols.cpp. References angleToPointBehindOpponentGoal, normalize(), and toDegrees(). Referenced by registerSymbols().

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double AngleSymbols::getBestAngleToOpponentGoal (   )

calculates the value for the symbol "robot-pose.best-angle-to-opponent-goal" Definition at line 84 of file AngleSymbols.cpp. References bestAngleToOpponentGoal, normalize(), and toDegrees(). Referenced by registerSymbols().

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double AngleSymbols::getBestAngleToOpponentGoalNoObstacles (   )

calculates the value for the symbol "robot-pose.best-angle-to-opponent-goal-no-obstacles" Definition at line 85 of file AngleSymbols.cpp. References bestAngleToOpponentGoalNoObstacles, normalize(), and toDegrees(). Referenced by registerSymbols().

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double AngleSymbols::getBestAngleAwayFromOwnGoal (   )

calculates the value for the symbol "robot-pose.best-angle-away-from-own-goal" Definition at line 86 of file AngleSymbols.cpp. References bestAngleAwayFromOwnGoal, normalize(), and toDegrees(). Referenced by registerSymbols().

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double AngleSymbols::getBestAngleAwayFromOwnGoalNoObstacles (   )

calculates the value for the symbol "robot-pose.best-angle-away-from-own-goal-no-obstacles" Definition at line 87 of file AngleSymbols.cpp. References bestAngleAwayFromOwnGoalNoObstacles, normalize(), and toDegrees(). Referenced by registerSymbols().

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double AngleSymbols::getGoalieGoalKickAngle (   )

calculates the value for the symbol "goalie.goal-kick-angle" Definition at line 88 of file AngleSymbols.cpp. References goalieGoalKickAngle, normalize(), and toDegrees(). Referenced by registerSymbols().

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double AngleSymbols::getAngle (  Angles  id  )

Definition at line 337 of file AngleSymbols.cpp. Referenced by GT2004BehaviorControl::postExecute().

const char* AngleSymbols::getAngleName (  Angles  id  )  [inline, static]

Definition at line 81 of file AngleSymbols.h. References angleToCenterOfField, angleToFreePartOfOpponentGoal, angleToLeftOpponentGoalCorner, angleToLeftOpponentGoalPost, angleToOpponentGoal, angleToPointBehindOpponentGoal, angleToRightOpponentGoalCorner, angleToRightOpponentGoalPost, bestAngleAwayFromOwnGoal, bestAngleAwayFromOwnGoalNoObstacles, bestAngleToOpponentGoal, bestAngleToOpponentGoalNoObstacles, and goalieGoalKickAngle. Referenced by registerSymbols().

void AngleSymbols::drawAngleShownByLeds (   )

Definition at line 342 of file AngleSymbols.cpp. References angleShownByLEDs, DEBUG_DRAWING_FINISHED, Pose2D::getAngle(), RobotPose::getPose(), LINE, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y. Referenced by update().

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void AngleSymbols::calculateVisionBasedAngles (   )  [private]

Definition at line 111 of file AngleSymbols.cpp. References ObstaclesModel::angleToFreePartOfGoal, and angleToFreePartOfOpponentGoal. Referenced by update().

void AngleSymbols::calculateLocalisationBasedAngles (   )  [private]

Definition at line 90 of file AngleSymbols.cpp. References Geometry::angleTo(), angleToCenterOfField, angleToLeftOpponentGoalCorner, angleToLeftOpponentGoalPost, angleToOpponentGoal, angleToPointBehindOpponentGoal, angleToRightOpponentGoalCorner, angleToRightOpponentGoalPost, and pi2. Referenced by update().

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void AngleSymbols::calculateCombinedAngles (   )  [private]

Definition at line 116 of file AngleSymbols.cpp. References Geometry::angleTo(), ObstaclesModel::angleToFreePartOfGoal, ObstaclesModel::angleToFreePartOfGoalWasDetermined, angleToFreePartOfOpponentGoal, angleToOpponentGoal, bestAngleAwayFromOwnGoal, bestAngleAwayFromOwnGoalNoObstacles, bestAngleToOpponentGoal, bestAngleToOpponentGoalNoObstacles, FieldDimensions::distanceToOpponentPenaltyArea(), fromDegrees(), Pose2D::getAngle(), ObstaclesModel::getAngleOfNextFreeSectorLeft(), ObstaclesModel::getAngleOfNextFreeSectorRight(), PlayerPoseCollection::getOwnPlayerPose(), PlayerPose::getPose(), goalieGoalKickAngle, normalize(), PlayerPoseCollection::numberOfOwnPlayers, pi, pi2, Pose2D::translation, and Vector2< double >::y. Referenced by update().

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Member Data Documentation

Angles AngleSymbols::angleShownByLEDs

Definition at line 108 of file AngleSymbols.h. Referenced by AngleSymbols(), drawAngleShownByLeds(), GT2004BehaviorControl::postExecute(), GT2004BehaviorControl::preExecute(), and registerSymbols().

double AngleSymbols::angles[numberOfAngles] [private]

Definition at line 115 of file AngleSymbols.h.

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

• Modules/BehaviorControl/CommonXabsl2Symbols/AngleSymbols.h
• Modules/BehaviorControl/CommonXabsl2Symbols/AngleSymbols.cpp

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