GT2004BasicBehaviorEvolveOmniParameters Class Reference

A BasicBehavior for walking forward or backward following a certain parcour as well as changing walking parameters according to the fitness measured in the last parcour walk This Basic Behavior needs a walking engine that does not switch parameters according to the MotionRequest (like InvKin:GT2003 and GT2004), but a non-switching one (like InvKin:FF). More...

#include <GT2004EvolutionBasicBehaviors.h>

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[legend]List of all members.

Public Member Functions
	GT2004BasicBehaviorEvolveOmniParameters (const BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler, GT2004ParametersSet &gt2004ParametersSet, Pose2D *gt2004ParametersCalibration, int &gt2004CurrentIndex, Pose2D &measurementRequest, int &evolutionMode)
virtual void	execute ()
	Executes the basic behavior.
Private Attributes
Population< GT2004Parameters, 10 >	ftPopulation
	a Polpulation of WalkingParameters
Population< GT2004Parameters, 10 >	bPopulation
double	mode
	specifies whether the robot should walk forward or backward or parameters should be changed
int	lastMode
ForwardTurningParcour	forwardTurningParcour
SimpleBackwardParcour	simpleBackwardParcour
PIDsmoothedValue	motionRequestX
PIDsmoothedValue	motionRequestY
PIDsmoothedValue	motionRequestR
GT2004ParametersSet &	gt2004ParametersSet
	GT2004 Evolution stuff.
Pose2D *	gt2004ParametersCalibration
int &	gt2004CurrentIndex
Pose2D &	measurementRequest
int &	evolutionMode

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Detailed Description

A BasicBehavior for walking forward or backward following a certain parcour as well as changing walking parameters according to the fitness measured in the last parcour walk This Basic Behavior needs a walking engine that does not switch parameters according to the MotionRequest (like InvKin:GT2003 and GT2004), but a non-switching one (like InvKin:FF).

Author:

Uwe Düffert

Definition at line 139 of file GT2004EvolutionBasicBehaviors.h.

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Constructor & Destructor Documentation

GT2004BasicBehaviorEvolveOmniParameters::GT2004BasicBehaviorEvolveOmniParameters (  const BehaviorControlInterfaces &  interfaces, Xabsl2ErrorHandler &  errorHandler, GT2004ParametersSet &  gt2004ParametersSet, Pose2D *  gt2004ParametersCalibration, int &  gt2004CurrentIndex, Pose2D &  measurementRequest, int &  evolutionMode )  [inline]

Definition at line 147 of file GT2004EvolutionBasicBehaviors.h. References bPopulation, InFile::exists(), ftPopulation, GT2004Parameters::index, Population< GT2004Parameters, 10 >::individual, lastMode, motionRequestR, motionRequestX, motionRequestY, Individual::mutationOf(), pi, and Xabsl2BasicBehavior::registerParameter().

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Member Function Documentation

void GT2004BasicBehaviorEvolveOmniParameters::execute (   )  [virtual]

Executes the basic behavior. Implements Xabsl2BasicBehavior. Definition at line 27 of file GT2004EvolutionBasicBehaviors.cpp. References RobotState::acceleration, Geometry::angleTo(), bPopulation, Geometry::distanceTo(), Population< GT2004Parameters, 10 >::evolve(), Individual::fitness, forwardTurningParcour, fromDegrees(), ftPopulation, SystemCall::getCurrentSystemTime(), Parcour::getMotionRequest(), Population< GT2004Parameters, 10 >::getNextIndividualWithoutFitness(), Parcour::getUnifiedSpeed(), RobotPose::getValidity(), idGT2004Parameters, idInvKinWalkingParameters, idText, lastMode, MotionRequest::motionType, normalize(), OUTPUT, Population< GT2004Parameters, 10 >::outputStatistics(), Pose2D::rotation, simpleBackwardParcour, Parcour::start(), toDegrees(), Pose2D::translation, Parcour::update(), MotionRequest::updateRP, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< double >::x, and Vector2< double >::y.

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Member Data Documentation

Population<GT2004Parameters,10> GT2004BasicBehaviorEvolveOmniParameters::ftPopulation [private]

a Polpulation of WalkingParameters Definition at line 201 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorEvolveOmniParameters().

Population<GT2004Parameters,10> GT2004BasicBehaviorEvolveOmniParameters::bPopulation [private]

Definition at line 202 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorEvolveOmniParameters().

double GT2004BasicBehaviorEvolveOmniParameters::mode [private]

specifies whether the robot should walk forward or backward or parameters should be changed Definition at line 205 of file GT2004EvolutionBasicBehaviors.h.

int GT2004BasicBehaviorEvolveOmniParameters::lastMode [private]

Definition at line 206 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorEvolveOmniParameters().

ForwardTurningParcour GT2004BasicBehaviorEvolveOmniParameters::forwardTurningParcour [private]

Definition at line 208 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute().

SimpleBackwardParcour GT2004BasicBehaviorEvolveOmniParameters::simpleBackwardParcour [private]

Definition at line 209 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute().

PIDsmoothedValue GT2004BasicBehaviorEvolveOmniParameters::motionRequestX [private]

Definition at line 210 of file GT2004EvolutionBasicBehaviors.h. Referenced by GT2004BasicBehaviorEvolveOmniParameters().

PIDsmoothedValue GT2004BasicBehaviorEvolveOmniParameters::motionRequestY [private]

Definition at line 210 of file GT2004EvolutionBasicBehaviors.h. Referenced by GT2004BasicBehaviorEvolveOmniParameters().

PIDsmoothedValue GT2004BasicBehaviorEvolveOmniParameters::motionRequestR [private]

Definition at line 210 of file GT2004EvolutionBasicBehaviors.h. Referenced by GT2004BasicBehaviorEvolveOmniParameters().

GT2004ParametersSet& GT2004BasicBehaviorEvolveOmniParameters::gt2004ParametersSet [private]

GT2004 Evolution stuff. Definition at line 213 of file GT2004EvolutionBasicBehaviors.h.

Pose2D* GT2004BasicBehaviorEvolveOmniParameters::gt2004ParametersCalibration [private]

Definition at line 214 of file GT2004EvolutionBasicBehaviors.h.

int& GT2004BasicBehaviorEvolveOmniParameters::gt2004CurrentIndex [private]

Definition at line 215 of file GT2004EvolutionBasicBehaviors.h.

Pose2D& GT2004BasicBehaviorEvolveOmniParameters::measurementRequest [private]

Definition at line 216 of file GT2004EvolutionBasicBehaviors.h.

int& GT2004BasicBehaviorEvolveOmniParameters::evolutionMode [private]

Definition at line 217 of file GT2004EvolutionBasicBehaviors.h.

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

• Modules/BehaviorControl/GT2004BehaviorControl/GT2004BasicBehaviors/GT2004EvolutionBasicBehaviors.h
• Modules/BehaviorControl/GT2004BehaviorControl/GT2004BasicBehaviors/GT2004EvolutionBasicBehaviors.cpp

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