GT2004BasicBehaviorMeasureGT2004ParametersBlind Class Reference

A BasicBehavior for measuring and calibrating an the current GT2004Parameters while being partially blind (while turning). More...

#include <GT2004EvolutionBasicBehaviors.h>

Inheritance diagram for GT2004BasicBehaviorMeasureGT2004ParametersBlind:

[legend]Collaboration diagram for GT2004BasicBehaviorMeasureGT2004ParametersBlind:

[legend]List of all members.

Public Member Functions
	GT2004BasicBehaviorMeasureGT2004ParametersBlind (const BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler, GT2004ParametersSet &gt2004ParametersSet, GT2004Parameters &gt2004ExtraParameters, Pose2D *gt2004ParametersCalibration, int &gt2004CurrentIndex, Pose2D &measurementRequest, int &evolutionMode)
virtual void	execute ()
	Executes the basic behavior.
Private Attributes
unsigned long	startFrameNumber
	robotPose frame number of first call of this beasic behavior in current measurement
unsigned long	lastFrameNumber
	robotPose frame number of last call of this beasic behavior in current measurement
unsigned long	clusterFrames
	number of valid frames in current cluster
double	x0
	local variables to store measurement start position
double	y0
	local variables to store measurement start position
double	r0
	local variables to store measurement start position
double	t0
	local variables to store measurement start position
double	lastRot
double	lastTime
double	firstNullTime
double	lastNullTime
double	nullTime
Pose2D	speed
int	clusterNumber
int	goodFrames
double	dr
double	dx
double	dy
GT2004ParametersSet &	gt2004ParametersSet
	GT2004 Evolution stuff.
GT2004Parameters &	gt2004ExtraParameters
Pose2D *	gt2004ParametersCalibration
int &	gt2004CurrentIndex
Pose2D &	measurementRequest
int &	evolutionMode

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Detailed Description

A BasicBehavior for measuring and calibrating an the current GT2004Parameters while being partially blind (while turning).

Author:

Uwe Düffert

Definition at line 75 of file GT2004EvolutionBasicBehaviors.h.

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Constructor & Destructor Documentation

GT2004BasicBehaviorMeasureGT2004ParametersBlind::GT2004BasicBehaviorMeasureGT2004ParametersBlind (  const BehaviorControlInterfaces &  interfaces, Xabsl2ErrorHandler &  errorHandler, GT2004ParametersSet &  gt2004ParametersSet, GT2004Parameters &  gt2004ExtraParameters, Pose2D *  gt2004ParametersCalibration, int &  gt2004CurrentIndex, Pose2D &  measurementRequest, int &  evolutionMode )  [inline]

Definition at line 83 of file GT2004EvolutionBasicBehaviors.h. References clusterFrames, and goodFrames.

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Member Function Documentation

void GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute (   )  [virtual]

Executes the basic behavior. Implements Xabsl2BasicBehavior. Definition at line 401 of file GT2004EvolutionBasicBehaviors.cpp. References clusterFrames, clusterNumber, GT2004Parameters::correctedMotion, dr, dx, dy, firstNullTime, RobotPose::frameNumber, SystemCall::getCurrentSystemTime(), GT2004ParametersSet::getParameters(), RobotPose::getValidity(), goodFrames, HeadControlMode::headControlMode, idGT2004Parameters, idText, lastNullTime, lastRot, MotionRequest::motionType, nullTime, OUTPUT, pi, Pose2D::rotation, Pose2D::translation, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< double >::x, and Vector2< double >::y.

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Member Data Documentation

unsigned long GT2004BasicBehaviorMeasureGT2004ParametersBlind::startFrameNumber [private]

robotPose frame number of first call of this beasic behavior in current measurement Definition at line 106 of file GT2004EvolutionBasicBehaviors.h.

unsigned long GT2004BasicBehaviorMeasureGT2004ParametersBlind::lastFrameNumber [private]

robotPose frame number of last call of this beasic behavior in current measurement Definition at line 108 of file GT2004EvolutionBasicBehaviors.h.

unsigned long GT2004BasicBehaviorMeasureGT2004ParametersBlind::clusterFrames [private]

number of valid frames in current cluster Definition at line 110 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorMeasureGT2004ParametersBlind().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::x0 [private]

local variables to store measurement start position Definition at line 112 of file GT2004EvolutionBasicBehaviors.h.

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::y0 [private]

local variables to store measurement start position Definition at line 112 of file GT2004EvolutionBasicBehaviors.h.

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::r0 [private]

local variables to store measurement start position Definition at line 112 of file GT2004EvolutionBasicBehaviors.h.

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::t0 [private]

local variables to store measurement start position Definition at line 112 of file GT2004EvolutionBasicBehaviors.h.

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::lastRot [private]

Definition at line 113 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::lastTime [private]

Definition at line 114 of file GT2004EvolutionBasicBehaviors.h.

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::firstNullTime [private]

Definition at line 115 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::lastNullTime [private]

Definition at line 116 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::nullTime [private]

Definition at line 117 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute().

Pose2D GT2004BasicBehaviorMeasureGT2004ParametersBlind::speed [private]

Definition at line 118 of file GT2004EvolutionBasicBehaviors.h.

int GT2004BasicBehaviorMeasureGT2004ParametersBlind::clusterNumber [private]

Definition at line 119 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute().

int GT2004BasicBehaviorMeasureGT2004ParametersBlind::goodFrames [private]

Definition at line 120 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorMeasureGT2004ParametersBlind().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::dr [private]

Definition at line 121 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::dx [private]

Definition at line 121 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute().

double GT2004BasicBehaviorMeasureGT2004ParametersBlind::dy [private]

Definition at line 121 of file GT2004EvolutionBasicBehaviors.h. Referenced by execute().

GT2004ParametersSet& GT2004BasicBehaviorMeasureGT2004ParametersBlind::gt2004ParametersSet [private]

GT2004 Evolution stuff. Definition at line 124 of file GT2004EvolutionBasicBehaviors.h.

GT2004Parameters& GT2004BasicBehaviorMeasureGT2004ParametersBlind::gt2004ExtraParameters [private]

Definition at line 125 of file GT2004EvolutionBasicBehaviors.h.

Pose2D* GT2004BasicBehaviorMeasureGT2004ParametersBlind::gt2004ParametersCalibration [private]

Definition at line 126 of file GT2004EvolutionBasicBehaviors.h.

int& GT2004BasicBehaviorMeasureGT2004ParametersBlind::gt2004CurrentIndex [private]

Definition at line 127 of file GT2004EvolutionBasicBehaviors.h.

Pose2D& GT2004BasicBehaviorMeasureGT2004ParametersBlind::measurementRequest [private]

Definition at line 128 of file GT2004EvolutionBasicBehaviors.h.

int& GT2004BasicBehaviorMeasureGT2004ParametersBlind::evolutionMode [private]

Definition at line 129 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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