BodyPercept Class Reference

The class represents the robots body percept. More...

#include <BodyPercept.h>

Collaboration diagram for BodyPercept:

[legend]List of all members.

Public Types
enum	States {   undefined, standing, crashed,   rollLeft, rollRight, pickedUp }
enum	Switches {   backMiddle = 0, backFront, backBack,   head, mouth, chin,   numOfSwitches }
	bit position of switch bits in switches value More...
enum	MouthStates { mouthOpen, mouthClosed }
Public Member Functions
	BodyPercept ()
	~BodyPercept ()
	The frame number when perceived.
void	setFrameNumber (unsigned long frameNumber)
	The functions sets the frame number.
void	setState (const States s)
States	getState () const
void	setSwitches (const int s)
int	getSwitches () const
void	setMouthState (const MouthStates t)
MouthStates	getMouthState () const
void	setBodyPSDHighValue (bool value)
bool	getBodyPSDHighValue () const
void	setBodyPSDDistance (double value)
double	getBodyPSDDistance () const
void	operator= (const BodyPercept &other)
	copies another BodyPercept to this one
Static Public Member Functions
const char *	getStateName (States s)
Public Attributes
Vector3< double >	acceleration
unsigned long	frameNumber
Private Attributes
States	state
	current state of robot position if crashed or standing
int	switches
	value representing pressed switches bits according to switches enum
MouthStates	mouthState
	The state of the mouth.
bool	bodyPSDHighValue
	Flag, set to true, if the body PSD has a high value, indicating something in front of the robot.
double	bodyPSDDistance
	The measured distance (0 - 5 cm) of objects in front of the body PSD.

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Detailed Description

The class represents the robots body percept.

The percept consists of current switches and a variable containing whether the robot stands or is crashed.

Definition at line 19 of file BodyPercept.h.

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Member Enumeration Documentation

enum BodyPercept::States

Enumeration values: undefined  standing  crashed  rollLeft  rollRight  pickedUp  Definition at line 23 of file BodyPercept.h.

enum BodyPercept::Switches

bit position of switch bits in switches value Enumeration values: backMiddle  backFront  backBack  head  mouth  chin  numOfSwitches  Definition at line 27 of file BodyPercept.h.

enum BodyPercept::MouthStates

Enumeration values: mouthOpen  mouthClosed  Definition at line 36 of file BodyPercept.h.

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Constructor & Destructor Documentation

BodyPercept::BodyPercept (   )

Definition at line 9 of file BodyPercept.cpp. References bodyPSDHighValue, and switches.

BodyPercept::~BodyPercept (   )

The frame number when perceived. Definition at line 18 of file BodyPercept.cpp.

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Member Function Documentation

void BodyPercept::setFrameNumber (  unsigned long  frameNumber  )  [inline]

The functions sets the frame number. Definition at line 49 of file BodyPercept.h. Referenced by GT2004SensorDataProcessor::execute().

void BodyPercept::setState (  const States  s  )  [inline]

Definition at line 51 of file BodyPercept.h. Referenced by GT2004SensorDataProcessor::execute().

States BodyPercept::getState (   )  const [inline]

Definition at line 52 of file BodyPercept.h. Referenced by GT2004RobotStateDetector::execute(), and operator=().

void BodyPercept::setSwitches (  const int  s  )  [inline]

Definition at line 54 of file BodyPercept.h. References switches. Referenced by GT2004SensorDataProcessor::execute().

int BodyPercept::getSwitches (   )  const [inline]

Definition at line 55 of file BodyPercept.h. References switches. Referenced by GT2004RobotStateDetector::execute(), and operator=().

void BodyPercept::setMouthState (  const MouthStates  t  )  [inline]

Definition at line 57 of file BodyPercept.h. Referenced by GT2004SensorDataProcessor::execute().

MouthStates BodyPercept::getMouthState (   )  const [inline]

Definition at line 58 of file BodyPercept.h. Referenced by GT2004RobotStateDetector::execute(), and operator=().

void BodyPercept::setBodyPSDHighValue (  bool  value  )  [inline]

Definition at line 60 of file BodyPercept.h. References bodyPSDHighValue. Referenced by GT2004SensorDataProcessor::execute().

bool BodyPercept::getBodyPSDHighValue (   )  const [inline]

Definition at line 61 of file BodyPercept.h. References bodyPSDHighValue. Referenced by GT2004RobotStateDetector::execute(), and operator=().

void BodyPercept::setBodyPSDDistance (  double  value  )  [inline]

Definition at line 63 of file BodyPercept.h. References bodyPSDDistance. Referenced by GT2004SensorDataProcessor::execute().

double BodyPercept::getBodyPSDDistance (   )  const [inline]

Definition at line 64 of file BodyPercept.h. References bodyPSDDistance. Referenced by GT2004RobotStateDetector::execute().

void BodyPercept::operator= (  const BodyPercept &  other  )

copies another BodyPercept to this one Definition at line 22 of file BodyPercept.cpp. References acceleration, bodyPSDHighValue, getBodyPSDHighValue(), getMouthState(), getState(), getSwitches(), and switches.

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const char* BodyPercept::getStateName (  States  s  )  [inline, static]

Definition at line 69 of file BodyPercept.h.

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Member Data Documentation

Vector3<double> BodyPercept::acceleration

Definition at line 38 of file BodyPercept.h. Referenced by GT2004SensorDataProcessor::execute(), GT2004RobotStateDetector::execute(), and operator=().

unsigned long BodyPercept::frameNumber

Definition at line 44 of file BodyPercept.h. Referenced by GT2004RobotStateDetector::execute(), operator<<(), and operator>>().

States BodyPercept::state [private]

current state of robot position if crashed or standing Definition at line 89 of file BodyPercept.h.

int BodyPercept::switches [private]

value representing pressed switches bits according to switches enum Definition at line 92 of file BodyPercept.h. Referenced by BodyPercept(), getSwitches(), operator=(), and setSwitches().

MouthStates BodyPercept::mouthState [private]

The state of the mouth. Definition at line 95 of file BodyPercept.h.

bool BodyPercept::bodyPSDHighValue [private]

Flag, set to true, if the body PSD has a high value, indicating something in front of the robot. Definition at line 99 of file BodyPercept.h. Referenced by BodyPercept(), getBodyPSDHighValue(), operator=(), and setBodyPSDHighValue().

double BodyPercept::bodyPSDDistance [private]

The measured distance (0 - 5 cm) of objects in front of the body PSD. Definition at line 102 of file BodyPercept.h. Referenced by getBodyPSDDistance(), and setBodyPSDDistance().

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

• Representations/Perception/BodyPercept.h
• Representations/Perception/BodyPercept.cpp

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