GT2004BasicBehaviorGoToPoint Class Reference

A Basic Behavior for going to a point on the field. More...

#include <GT2004SimpleBasicBehaviors.h>

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[legend]List of all members.

Public Member Functions
	GT2004BasicBehaviorGoToPoint (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void	execute ()
	Executes the basic behavior.
Protected Attributes
double	x
	parameter "go-to-point.x"
double	y
	parameter "go-to-point.y"
double	destinationAngle
	parameter "go-to-point.destination-angle"
double	distanceRemain
	parameter "distance-remain"
double	angleRemain
	parameter "angle-remain"
double	maxSpeed
	parameter "go-to-point.max-speed"
double	maxSpeedY
	parameter "go-to-point.max-speed.y"
double	walkType
	parameter "walk-type"
WalkAccelerationRestrictor	accelerationRestrictor
	Restricts the walk acceleration to maximum values.

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Detailed Description

A Basic Behavior for going to a point on the field.

Author:

Uwe Düffert

Martin Lötzsch

Definition at line 138 of file GT2004SimpleBasicBehaviors.h.

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Constructor & Destructor Documentation

GT2004BasicBehaviorGoToPoint::GT2004BasicBehaviorGoToPoint (  BehaviorControlInterfaces &  interfaces, Xabsl2ErrorHandler &  errorHandler )  [inline]

Definition at line 146 of file GT2004SimpleBasicBehaviors.h. References angleRemain, distanceRemain, point, and Xabsl2BasicBehavior::registerParameter().

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Member Function Documentation

void GT2004BasicBehaviorGoToPoint::execute (   )  [virtual]

Executes the basic behavior. Implements Xabsl2BasicBehavior. Definition at line 476 of file GT2004SimpleBasicBehaviors.cpp. References angleRemain, Geometry::angleTo(), distanceRemain, Geometry::distanceTo(), fromDegrees(), max, min, MotionRequest::motionType, normalize(), WalkAccelerationRestrictor::restrictAccelerations(), Pose2D::rotation, WalkAccelerationRestrictor::saveLastWalkParameters(), toDegrees(), Pose2D::translation, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< double >::x, and Vector2< double >::y.

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Member Data Documentation

double GT2004BasicBehaviorGoToPoint::x [protected]

parameter "go-to-point.x" Definition at line 167 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorGoToPoint::y [protected]

parameter "go-to-point.y" Definition at line 170 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorGoToPoint::destinationAngle [protected]

parameter "go-to-point.destination-angle" Definition at line 173 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorGoToPoint::distanceRemain [protected]

parameter "distance-remain" Definition at line 176 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorGoToPoint().

double GT2004BasicBehaviorGoToPoint::angleRemain [protected]

parameter "angle-remain" Definition at line 179 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorGoToPoint().

double GT2004BasicBehaviorGoToPoint::maxSpeed [protected]

parameter "go-to-point.max-speed" Definition at line 182 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorGoToPoint::maxSpeedY [protected]

parameter "go-to-point.max-speed.y" Definition at line 185 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorGoToPoint::walkType [protected]

parameter "walk-type" Definition at line 188 of file GT2004SimpleBasicBehaviors.h.

WalkAccelerationRestrictor GT2004BasicBehaviorGoToPoint::accelerationRestrictor [protected]

Restricts the walk acceleration to maximum values. Definition at line 191 of file GT2004SimpleBasicBehaviors.h.

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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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