ChallengeSymbols Class Reference

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

#include <ChallengeSymbols.h>

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[legend]List of all members.

Public Member Functions
	ChallengeSymbols (const BehaviorControlInterfaces &interfaces)
void	registerSymbols (Xabsl2Engine &engine)
	registers the symbols at an engine
void	update ()
	updates the symbols
void	challenge2Swap (Pose2D *p, int i, int j)
void	challenge2ShortestPermutation (Pose2D *p, int n, double &minLength)
void	challenge2ShortestPath ()
void	challenge2OptimalRotation (Pose2D &pose)
double	challenge2TargetPositionX ()
	Returns x coordinate of target position with current index.
double	challenge2TargetPositionY ()
	Returns y coordinate of target position with current index.
double	challenge2TargetPositionRotation ()
	Returns rotation of target position with current index.
Private Attributes
Pose2D	targetPositions [5]
	The 5 target positions for the localization challenge.
double	index
	the index for targetPosition? functions
double	lastIndex
	The index of the previous call.

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Detailed Description

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

Author:

Thomas Röfer

Definition at line 20 of file ChallengeSymbols.h.

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Constructor & Destructor Documentation

ChallengeSymbols::ChallengeSymbols (  const BehaviorControlInterfaces &  interfaces  )

Definition at line 12 of file ChallengeSymbols.cpp. References challenge2OptimalRotation(), InFile::exists(), getPlayer(), Player::getTeamColor(), lastIndex, targetPositions, Pose2D::translation, and Vector2< double >::x.

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Member Function Documentation

void ChallengeSymbols::registerSymbols (  Xabsl2Engine &  engine  )

registers the symbols at an engine Definition at line 35 of file ChallengeSymbols.cpp. References challenge2TargetPositionRotation(), challenge2TargetPositionX(), challenge2TargetPositionY(), Xabsl2Symbols::registerDecimalInputFunction(), and Xabsl2Symbols::registerDecimalInputFunctionParameter(). Referenced by GT2004BehaviorControl::registerSymbolsAndBasicBehaviors().

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void ChallengeSymbols::update (   )

updates the symbols Definition at line 56 of file ChallengeSymbols.cpp.

void ChallengeSymbols::challenge2Swap (  Pose2D *  p, int  i, int  j )

Definition at line 134 of file ChallengeSymbols.cpp. Referenced by challenge2ShortestPermutation().

void ChallengeSymbols::challenge2ShortestPermutation (  Pose2D *  p, int  n, double &  minLength )

Definition at line 112 of file ChallengeSymbols.cpp. References challenge2Swap(), targetPositions, and Pose2D::translation. Referenced by challenge2ShortestPath().

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void ChallengeSymbols::challenge2ShortestPath (   )

Definition at line 98 of file ChallengeSymbols.cpp. References challenge2ShortestPermutation(), lastIndex, and targetPositions. Referenced by challenge2TargetPositionRotation(), challenge2TargetPositionX(), and challenge2TargetPositionY().

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void ChallengeSymbols::challenge2OptimalRotation (  Pose2D &  pose  )

Definition at line 79 of file ChallengeSymbols.cpp. References pi, pi_2, Pose2D::rotation, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y. Referenced by ChallengeSymbols().

double ChallengeSymbols::challenge2TargetPositionX (   )

Returns x coordinate of target position with current index. Definition at line 61 of file ChallengeSymbols.cpp. References challenge2ShortestPath(), targetPositions, Pose2D::translation, and Vector2< double >::x. Referenced by registerSymbols().

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double ChallengeSymbols::challenge2TargetPositionY (   )

Returns y coordinate of target position with current index. Definition at line 67 of file ChallengeSymbols.cpp. References challenge2ShortestPath(), targetPositions, Pose2D::translation, and Vector2< double >::y. Referenced by registerSymbols().

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double ChallengeSymbols::challenge2TargetPositionRotation (   )

Returns rotation of target position with current index. Definition at line 73 of file ChallengeSymbols.cpp. References challenge2ShortestPath(), targetPositions, and toDegrees(). Referenced by registerSymbols().

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Member Data Documentation

Pose2D ChallengeSymbols::targetPositions[5] [private]

The 5 target positions for the localization challenge. Definition at line 42 of file ChallengeSymbols.h. Referenced by challenge2ShortestPath(), challenge2ShortestPermutation(), challenge2TargetPositionRotation(), challenge2TargetPositionX(), challenge2TargetPositionY(), and ChallengeSymbols().

double ChallengeSymbols::index [private]

the index for targetPosition? functions Definition at line 43 of file ChallengeSymbols.h.

double ChallengeSymbols::lastIndex [private]

The index of the previous call. Definition at line 43 of file ChallengeSymbols.h. Referenced by challenge2ShortestPath(), and ChallengeSymbols().

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

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

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