EvolutionSymbols Class Reference

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

#include <EvolutionSymbols.h>

Inheritance diagram for EvolutionSymbols:

[legend]Collaboration diagram for EvolutionSymbols:

[legend]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)
	registers the symbols at an engine
void	update ()
	updates the symbols
bool	getCurrentGT2004ParametersMeasureBlind ()
	A function for the symbol "current-gt2004-parameters-measure-blind".
double	getQualityOfCurrentGT2004Parameters ()
	Gives a percentage of how good current gt2004Parameters fullfill its purpose.
void	estimateTimeToReachBall ()
	computes the estimated time to reach the ball
void	computeRole ()
	computes the current role
Input symbols
double	getRobotNumber ()
bool	getAnotherPlayerIsInReadyState ()
	A function for the symbol "another-player-is-in-ready-state".
bool	getAnotherTeammateIsPreparingAKick ()
	A function for the symbol "another-teammate-is-preparing-a-kick".
bool	getAnotherTeammateIsPerformingAKick ()
	A function for the symbol "another-teammate-is-performing-a-kick".
bool	getAnotherTeammateJustPerformedAKick ()
	A function for the symbol "another-teammate-just-performed-a-kick".
bool	getTheStrikerIsPlayingNearTheOpponentGoal ()
	A function for the symbol "the-striker-is-playing-near-the-opponent-goal".
bool	getTheStrikerIsNotPlayingNearTheOpponentGoal ()
	A function for the symbol "the-striker-is-not-playing-near-the-opponent-goal".
bool	getTheStrikerIsPlayingNearTheOwnGoal ()
	A function for the symbol "the-striker-is-playing-near-the-own-goal".
bool	getTheStrikerIsNotPlayingNearTheOwnGoal ()
	A function for the symbol "the-striker-is-not-playing-near-the-own-goal".
bool	getCaught ()
	A funtion for the symbol "catch-ball".
double	getCatchTime ()
	A function for the symbol "catch-ball-time".
double	getSearchBallX ()
	A function for the symbol "search-ball.x".
Public Attributes
double	estimatedTimeToReachBall
	current estimated time to reach the ball
unsigned long	timeOfLastGoodSelfLocalization
	last time the robot pose validity was above 0.5
double	durationOfBadSelfLocalization
	current duration since robot pose validity was above 0.5 (in s)
Vector2< double >	currentGT2004ParametersStartPosition
	a position useful for starting to measure the performance of the current GT2004Parameters
double	currentGT2004ParametersStartDirection
	a direction useful for starting to measure the performance of the current GT2004Parameters, must be in deg
BehaviorTeamMessage::DynamicRole	role
	current role
unsigned long	timeWhenBallWasStartedToCatch
	The time when the ball was started to catch.
unsigned long	timeUntilBallWasCaught
	The time until the ball was caught.
bool	robotIsStuck
	Indicates if the robot is stuck (based on obstacles model).
bool	obstaclesAreClose
	Indicates that there are close obstacles.
Private Attributes
GT2004ParametersSet &	gt2004ParametersSet
	GT2004 Evolution stuff.
Pose2D *	gt2004ParametersCalibration
int &	gt2004CurrentIndex
Pose2D &	measurementRequest
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::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< double >::x, and Vector2< double >::y. Referenced by GT2004BehaviorControl::registerSymbolsAndBasicBehaviors().

Here is the call graph for this function:

void EvolutionSymbols::update (   )

updates the symbols Definition at line 50 of file EvolutionSymbols.cpp. References Vector2< double >::abs(), currentGT2004ParametersStartDirection, currentGT2004ParametersStartPosition, durationOfBadSelfLocalization, SystemCall::getCurrentSystemTime(), SystemCall::getTimeSince(), RobotPose::getValidity(), pi, Pose2D::rotation, timeOfLastGoodSelfLocalization, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y. Referenced by GT2004BehaviorControl::execute().

Here is the call graph for this function:

bool EvolutionSymbols::getCurrentGT2004ParametersMeasureBlind (   )

A function for the symbol "current-gt2004-parameters-measure-blind". Definition at line 161 of file EvolutionSymbols.cpp. References Vector2< double >::abs(), Pose2D::rotation, and Pose2D::translation. Referenced by registerSymbols().

Here is the call graph for this function:

double EvolutionSymbols::getQualityOfCurrentGT2004Parameters (   )

Gives a percentage of how good current gt2004Parameters fullfill its purpose. Definition at line 168 of file EvolutionSymbols.cpp. Referenced by registerSymbols().

void EvolutionSymbols::estimateTimeToReachBall (   )

computes the estimated time to reach the ball

void EvolutionSymbols::computeRole (   )

computes the current role

double EvolutionSymbols::getRobotNumber (   )  [inline]

Definition at line 73 of file EvolutionSymbols.h. References getPlayer(), and Player::getPlayerNumber().

Here is the call graph for this function:

bool EvolutionSymbols::getAnotherPlayerIsInReadyState (   )

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

bool EvolutionSymbols::getAnotherTeammateIsPreparingAKick (   )

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

bool EvolutionSymbols::getAnotherTeammateIsPerformingAKick (   )

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

bool EvolutionSymbols::getAnotherTeammateJustPerformedAKick (   )

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

bool EvolutionSymbols::getTheStrikerIsPlayingNearTheOpponentGoal (   )

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

bool EvolutionSymbols::getTheStrikerIsNotPlayingNearTheOpponentGoal (   )

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

bool EvolutionSymbols::getTheStrikerIsPlayingNearTheOwnGoal (   )

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

bool EvolutionSymbols::getTheStrikerIsNotPlayingNearTheOwnGoal (   )

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

bool EvolutionSymbols::getCaught (   )

A funtion for the symbol "catch-ball".

double EvolutionSymbols::getCatchTime (   )

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

double EvolutionSymbols::getSearchBallX (   )

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

---

Member Data Documentation

double EvolutionSymbols::estimatedTimeToReachBall

current estimated time to reach the ball Definition at line 42 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().

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().

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::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().

BehaviorTeamMessage::DynamicRole EvolutionSymbols::role

current role Definition at line 62 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.

unsigned long EvolutionSymbols::timeUntilBallWasCaught

The time until the ball was caught. Definition at line 114 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.

bool EvolutionSymbols::obstaclesAreClose

Indicates that there are close obstacles. Definition at line 120 of file EvolutionSymbols.h.

GT2004ParametersSet& EvolutionSymbols::gt2004ParametersSet [private]

GT2004 Evolution stuff. Definition at line 124 of file EvolutionSymbols.h.

Pose2D* EvolutionSymbols::gt2004ParametersCalibration [private]

Definition at line 125 of file EvolutionSymbols.h.

int& EvolutionSymbols::gt2004CurrentIndex [private]

Definition at line 126 of file EvolutionSymbols.h.

Pose2D& EvolutionSymbols::measurementRequest [private]

Definition at line 127 of file EvolutionSymbols.h.

int& EvolutionSymbols::evolutionMode [private]

Definition at line 128 of file EvolutionSymbols.h.

---

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

• Modules/BehaviorControl/GT2004BehaviorControl/GT2004Symbols/EvolutionSymbols.h
• Modules/BehaviorControl/GT2004BehaviorControl/GT2004Symbols/EvolutionSymbols.cpp

---