GT2004BasicBehaviorGoToPointAndAvoidObstacles Class Reference

A Basic Behavior for going to a point on the field and avoiding obstacles on the way there. More...

#include <GT2004SimpleBasicBehaviors.h>

Inheritance diagram for GT2004BasicBehaviorGoToPointAndAvoidObstacles:

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[legend]List of all members.

Public Member Functions
	GT2004BasicBehaviorGoToPointAndAvoidObstacles (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void	execute ()
	Executes the basic behavior.
Private Attributes
double	x
	parameter "go-to-point-and-avoid-obstacles.x"
double	y
	parameter "go-to-point-and-avoid-obstacles.y"
double	maxSpeed
	parameter "go-to-point-and-avoid-obstacles.max-speed"
double	avoidanceLevel
	parameter "go-to-point-and-avoid-obstacles.avoid-penalty-areas"
PIDsmoothedValue	turnSpeed
	smoothes the rotation
PIDsmoothedValue	speedX
	smoothes the speed in forward direction
PIDsmoothedValue	speedY
	smoothes the speed in sideways direction
long	lastTimeExecuted
	last time behavior was executed

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Detailed Description

A Basic Behavior for going to a point on the field and avoiding obstacles on the way there.

Author:

Jan Hoffmann

Definition at line 378 of file GT2004SimpleBasicBehaviors.h.

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Constructor & Destructor Documentation

GT2004BasicBehaviorGoToPointAndAvoidObstacles::GT2004BasicBehaviorGoToPointAndAvoidObstacles (  BehaviorControlInterfaces &  interfaces, Xabsl2ErrorHandler &  errorHandler )  [inline]

Definition at line 386 of file GT2004SimpleBasicBehaviors.h. References avoidanceLevel, pi, point, Xabsl2BasicBehavior::registerParameter(), and turnSpeed.

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Member Function Documentation

void GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute (   )  [virtual]

Executes the basic behavior. Implements Xabsl2BasicBehavior. Definition at line 379 of file GT2004SimpleBasicBehaviors.cpp. References Geometry::angleTo(), PIDsmoothedValue::approximateVal(), Geometry::distanceTo(), ObstaclesModel::getAngleOfNextFreeSector(), SystemCall::getCurrentSystemTime(), ObstaclesModel::getDistanceInCorridor(), RobotPose::getPose(), SystemCall::getTimeSince(), ObstaclesModel::getTotalFreeSpaceInSector(), lastTimeExecuted, MotionRequest::motionType, pi, Range< T >::Range(), PIDsmoothedValue::resetTo(), Pose2D::rotation, Pose2D::translation, turnSpeed, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< double >::x, and Vector2< double >::y.

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Member Data Documentation

double GT2004BasicBehaviorGoToPointAndAvoidObstacles::x [private]

parameter "go-to-point-and-avoid-obstacles.x" Definition at line 405 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorGoToPointAndAvoidObstacles::y [private]

parameter "go-to-point-and-avoid-obstacles.y" Definition at line 408 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorGoToPointAndAvoidObstacles::maxSpeed [private]

parameter "go-to-point-and-avoid-obstacles.max-speed" Definition at line 411 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorGoToPointAndAvoidObstacles::avoidanceLevel [private]

parameter "go-to-point-and-avoid-obstacles.avoid-penalty-areas" Definition at line 414 of file GT2004SimpleBasicBehaviors.h. Referenced by GT2004BasicBehaviorGoToPointAndAvoidObstacles().

PIDsmoothedValue GT2004BasicBehaviorGoToPointAndAvoidObstacles::turnSpeed [private]

smoothes the rotation Definition at line 417 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorGoToPointAndAvoidObstacles().

PIDsmoothedValue GT2004BasicBehaviorGoToPointAndAvoidObstacles::speedX [private]

smoothes the speed in forward direction Definition at line 420 of file GT2004SimpleBasicBehaviors.h.

PIDsmoothedValue GT2004BasicBehaviorGoToPointAndAvoidObstacles::speedY [private]

smoothes the speed in sideways direction Definition at line 423 of file GT2004SimpleBasicBehaviors.h.

long GT2004BasicBehaviorGoToPointAndAvoidObstacles::lastTimeExecuted [private]

last time behavior was executed Definition at line 426 of file GT2004SimpleBasicBehaviors.h. Referenced by execute().

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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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