GT2004BasicBehaviorTurnAroundPoint Class Reference

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

#include <GT2004SimpleBasicBehaviors.h>

Inheritance diagram for GT2004BasicBehaviorTurnAroundPoint:

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[legend]List of all members.

Public Member Functions
	GT2004BasicBehaviorTurnAroundPoint (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void	execute ()
	Executes the basic behavior.
Protected Attributes
double	x
	parameter "turn-around-point.x"
double	y
	parameter "turn-around-point.y"
double	radius
	parameter "turn-around-point.radius"
double	leftRight
	parameter "go-to-point.left-right"
double	forwardComponent
	parameter "go-to-point.forward-component"
WalkAccelerationRestrictor	accelerationRestrictor
	Restricts the walk acceleration to maximum values.

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Detailed Description

A Basic Behavior for going turning around a point on the field.

Author:

Jan Hoffmann

Definition at line 199 of file GT2004SimpleBasicBehaviors.h.

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Constructor & Destructor Documentation

GT2004BasicBehaviorTurnAroundPoint::GT2004BasicBehaviorTurnAroundPoint (  BehaviorControlInterfaces &  interfaces, Xabsl2ErrorHandler &  errorHandler )  [inline]

Definition at line 207 of file GT2004SimpleBasicBehaviors.h. References forwardComponent, leftRight, point, and Xabsl2BasicBehavior::registerParameter().

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Member Function Documentation

void GT2004BasicBehaviorTurnAroundPoint::execute (   )  [virtual]

Executes the basic behavior. Implements Xabsl2BasicBehavior. Definition at line 306 of file GT2004SimpleBasicBehaviors.cpp. References Geometry::angleTo(), Geometry::distanceTo(), forwardComponent, fromDegrees(), RobotPose::getPose(), leftRight, MotionRequest::motionType, pi, Range< T >::Range(), Pose2D::rotation, Pose2D::translation, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, and Vector2< V >::y.

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Member Data Documentation

double GT2004BasicBehaviorTurnAroundPoint::x [protected]

parameter "turn-around-point.x" Definition at line 225 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorTurnAroundPoint::y [protected]

parameter "turn-around-point.y" Definition at line 228 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorTurnAroundPoint::radius [protected]

parameter "turn-around-point.radius" Definition at line 231 of file GT2004SimpleBasicBehaviors.h.

double GT2004BasicBehaviorTurnAroundPoint::leftRight [protected]

parameter "go-to-point.left-right" Definition at line 234 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorTurnAroundPoint().

double GT2004BasicBehaviorTurnAroundPoint::forwardComponent [protected]

parameter "go-to-point.forward-component" Definition at line 237 of file GT2004SimpleBasicBehaviors.h. Referenced by execute(), and GT2004BasicBehaviorTurnAroundPoint().

WalkAccelerationRestrictor GT2004BasicBehaviorTurnAroundPoint::accelerationRestrictor [protected]

Restricts the walk acceleration to maximum values. Definition at line 240 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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