GT2004BasicBehaviorGoaliePosition Class Reference

A goalie positioning approach from Benjamin. More...

#include <GT2004SimpleBasicBehaviors.h>

Inheritance diagram for GT2004BasicBehaviorGoaliePosition:

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[legend]List of all members.

Public Member Functions
	GT2004BasicBehaviorGoaliePosition (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void	execute ()
	Executes the basic behavior.
Protected Attributes
double	maxSpeed
double	minXTrans
double	minYTrans
double	weightPose
double	weightOdo
double	cutY
double	guardDirectToGoal
double	guardLine
Pose2D	lastRobotPose
Pose2D	lastOdometry
Pose2D	goaliePose
Pose2D	lastGoaliePose

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Detailed Description

A goalie positioning approach from Benjamin.

Definition at line 244 of file GT2004SimpleBasicBehaviors.h.

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Constructor & Destructor Documentation

GT2004BasicBehaviorGoaliePosition::GT2004BasicBehaviorGoaliePosition (  BehaviorControlInterfaces &  interfaces, Xabsl2ErrorHandler &  errorHandler )  [inline]

Definition at line 252 of file GT2004SimpleBasicBehaviors.h. References cutY, guardDirectToGoal, guardLine, minXTrans, minYTrans, Xabsl2BasicBehavior::registerParameter(), weightOdo, and weightPose.

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Member Function Documentation

void GT2004BasicBehaviorGoaliePosition::execute (   )  [virtual]

Executes the basic behavior. Implements Xabsl2BasicBehavior. Definition at line 127 of file GT2004SimpleBasicBehaviors.cpp. References Vector2< double >::abs(), Geometry::angleTo(), ARROW, CIRCLE, cutY, DEBUG_DRAWING_FINISHED, BallModel::getKnownPosition(), goaliePose, guardDirectToGoal, guardLine, lastGoaliePose, LINE, max, min, minXTrans, minYTrans, MotionRequest::motionType, Vector2< double >::normalize(), Pose2D::rotation, Pose2D::translation, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, weightOdo, weightPose, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y.

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Member Data Documentation

double GT2004BasicBehaviorGoaliePosition::maxSpeed [protected]

Definition at line 272 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorGoaliePosition::minXTrans [protected]

Definition at line 273 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().

double GT2004BasicBehaviorGoaliePosition::minYTrans [protected]

Definition at line 274 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().

double GT2004BasicBehaviorGoaliePosition::weightPose [protected]

Definition at line 275 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().

double GT2004BasicBehaviorGoaliePosition::weightOdo [protected]

Definition at line 276 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().

double GT2004BasicBehaviorGoaliePosition::cutY [protected]

Definition at line 277 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().

double GT2004BasicBehaviorGoaliePosition::guardDirectToGoal [protected]

Definition at line 278 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().

double GT2004BasicBehaviorGoaliePosition::guardLine [protected]

Definition at line 279 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorGoaliePosition().

Pose2D GT2004BasicBehaviorGoaliePosition::lastRobotPose [protected]

Definition at line 281 of file GT2004SimpleBasicBehaviors.h.

Pose2D GT2004BasicBehaviorGoaliePosition::lastOdometry [protected]

Definition at line 282 of file GT2004SimpleBasicBehaviors.h.

Pose2D GT2004BasicBehaviorGoaliePosition::goaliePose [protected]

Definition at line 283 of file GT2004SimpleBasicBehaviors.h. Referenced by execute().

Pose2D GT2004BasicBehaviorGoaliePosition::lastGoaliePose [protected]

Definition at line 284 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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