GT2004BasicBehaviorDirectedScanForLandmarks Class Reference

The basic behavior "look-at-close-landmarks". More...

Inheritance diagram for GT2004BasicBehaviorDirectedScanForLandmarks:

[legend]Collaboration diagram for GT2004BasicBehaviorDirectedScanForLandmarks:


Public Member Functions
	GT2004BasicBehaviorDirectedScanForLandmarks (Xabsl2ErrorHandler &errorHandler, HeadControlInterfaces &interfaces, GT2004HeadControl &headControl, GT2004HeadPathPlanner &headPathPlanner, bool &lastScanWasLeft, CameraInfo &cameraInfo)
	Constructor.
virtual void	execute ()
	Executes the basic behavior.
Public Attributes
bool	nextLandmarkIsWithinReach
Private Attributes
double	leftOrRight
int	currentLandmark
int	nextLandmark
int	waitSomeBeforeLookingAtNextLandmark

Detailed Description

The basic behavior "look-at-close-landmarks".

GT2004BasicBehaviorDirectedScanForLandmarks::GT2004BasicBehaviorDirectedScanForLandmarks ( Xabsl2ErrorHandler & errorHandler,

HeadControlInterfaces & interfaces,

GT2004HeadControl & headControl,

GT2004HeadPathPlanner & headPathPlanner,

bool & lastScanWasLeft,

CameraInfo & cameraInfo

) [inline]

Constructor.

Definition at line 114 of file GT2004HeadControlBasicBehaviors.h.
References leftOrRight.

void GT2004BasicBehaviorDirectedScanForLandmarks::execute ( ) [virtual]

Executes the basic behavior.

alternate scan direction whenever basic behavior is called for the first time
The following calculates the closest landmark and compares it to the one that the scan is currently aiming at. If the closest is further in the direction of the scan, it is used as the new target. If it is in the opposite direction, it is not used to guarantee a stable head movement
reset variables when a new scan is started
if a landmark is found to be closest that is not the one the robot is currently aiming at, store the ID in nextLandmark but don't change the target yet.
the following functions as a delay so that the robot continues to look at a landmark for a brief period of time before aiming at the next
calculate the XABSL input symbol "nextLandmarkIsWithinReach"
Implements GT2004HeadControlBasicBehavior.
Definition at line 181 of file GT2004HeadControlBasicBehaviors.cpp.
References GT2004HeadControl::aimAtLandmark(), Geometry::angleTo(), GT2004HeadControl::calculateClosestLandmark(), CIRCLE, currentLandmark, DEBUG_DRAWING_FINISHED, RobotDimensions::jointLimitHeadPanP, GT2004HeadPathPlanner::lastHeadPan, leftOrRight, nextLandmark, nextLandmarkIsWithinReach, CameraInfo::openingAngleWidth, GT2004HeadControl::setJoints(), waitSomeBeforeLookingAtNextLandmark, and Vector2< V >::y.