GT2004BasicBehaviorGoToBall Class Reference

A Basic Behavior for going to the ball. More...

#include <GT2004SimpleBasicBehaviors.h>

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[legend]List of all members.

Public Member Functions
	GT2004BasicBehaviorGoToBall (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void	execute ()
	Executes the basic behavior.
Private Attributes
double	distanceAtEnd
	parameter "go-to-ball.distance"
double	maxSpeed
	parameter "go-to-ball.max-speed"
double	maxSpeedY
	parameter "go-to-ball.max-speed.y"
WalkAccelerationRestrictor	accelerationRestrictor
	Restricts the walk acceleration to maximum values.
double	targetAngleToBall
	parameter "go-to-ball.target-angle-to-ball"
double	yOffset
	parameter "go-to-ball.y-offset"
double	walkType
	parameter "walk-type"
double	maxTurnSpeed
	parameter "max-turn-speed"

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Detailed Description

A Basic Behavior for going to the ball.

Author:

Matthias Jüngel

Martin Lötzsch

Jan Hoffmann

Definition at line 29 of file GT2004SimpleBasicBehaviors.h.

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Constructor & Destructor Documentation

GT2004BasicBehaviorGoToBall::GT2004BasicBehaviorGoToBall (  BehaviorControlInterfaces &  interfaces, Xabsl2ErrorHandler &  errorHandler )  [inline]

Definition at line 37 of file GT2004SimpleBasicBehaviors.h. References distanceAtEnd, maxSpeedY, maxTurnSpeed, Xabsl2BasicBehavior::registerParameter(), targetAngleToBall, and yOffset.

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Member Function Documentation

void GT2004BasicBehaviorGoToBall::execute (   )  [virtual]

Executes the basic behavior. Implements Xabsl2BasicBehavior. Definition at line 25 of file GT2004SimpleBasicBehaviors.cpp. References Geometry::angleTo(), Geometry::distanceTo(), fromDegrees(), BallModel::getKnownPosition(), RobotPose::getPose(), max, maxSpeedY, maxTurnSpeed, min, MotionRequest::motionType, Vector2< V >::normalize(), pi, Pose2D::rotation, targetAngleToBall, Pose2D::translation, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, Vector2< double >::y, and yOffset.

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Member Data Documentation

double GT2004BasicBehaviorGoToBall::distanceAtEnd [private]

parameter "go-to-ball.distance" Definition at line 57 of file GT2004SimpleBasicBehaviors.h. Referenced by GT2004BasicBehaviorGoToBall().

double GT2004BasicBehaviorGoToBall::maxSpeed [private]

parameter "go-to-ball.max-speed" Definition at line 60 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorGoToBall::maxSpeedY [private]

parameter "go-to-ball.max-speed.y" Definition at line 63 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorGoToBall().

WalkAccelerationRestrictor GT2004BasicBehaviorGoToBall::accelerationRestrictor [private]

Restricts the walk acceleration to maximum values. Definition at line 66 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorGoToBall::targetAngleToBall [private]

parameter "go-to-ball.target-angle-to-ball" Definition at line 69 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorGoToBall().

double GT2004BasicBehaviorGoToBall::yOffset [private]

parameter "go-to-ball.y-offset" Definition at line 72 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorGoToBall().

double GT2004BasicBehaviorGoToBall::walkType [private]

parameter "walk-type" Definition at line 75 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorGoToBall::maxTurnSpeed [private]

parameter "max-turn-speed" Definition at line 78 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorGoToBall().

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

• Modules/BehaviorControl/GT2004BehaviorControl/GT2004BasicBehaviors/GT2004SimpleBasicBehaviors.h
• Modules/BehaviorControl/GT2004BehaviorControl/GT2004BasicBehaviors/GT2004SimpleBasicBehaviors.cpp

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