GT2004BehaviorControl Class Reference

A Behavior based on the Xabsl2Engine that is used by GermanTeam for the RoboCup 2004. More...

#include <GT2004BehaviorControl.h>

Inheritance diagram for GT2004BehaviorControl:

[legend]Collaboration diagram for GT2004BehaviorControl:

[legend]List of all members.

Public Member Functions
	GT2004BehaviorControl (BehaviorControlInterfaces &interfaces)
	Constructor.
	~GT2004BehaviorControl ()
	destructor
virtual void	registerSymbolsAndBasicBehaviors ()
	Registers symbols and basic behaviors at the engine.
void	preExecute ()
	Sets some varibles for leds and sound before the execution of the engine.
virtual void	execute ()
	Executes the module.
void	postExecute ()
	Sets some variables for head motion and sound after the execution of the engine.
virtual bool	handleMessage (InMessage &message)
	Is called for every incoming debug message.
Private Attributes
KickLogger	kickLogger
bool	quickStop
	If quickStop is true, the robot just stands.
HeadControlMode	debugHeadControlMode
	Indicates which HeadControlMode is set, when the robot is demobilized (quick stop).
ChooserRaterInterfaces	chooserRaterInterfaces
CollectedBeliefs	collectedBeliefs
OptionRating *	optionRating [RateableOptions::numOfOptionRatings]
OptionRating *	actualOptionRating
TacticChooser *	tacticChooser [RateableOptions::numOfTacticChoosers]
TacticChooser *	actualTacticChooser
Symbols
CalibrationSymbols	calibrationSymbols
AngleSymbols	angleSymbols
BallSymbols	ballSymbols
GT2004ConfigurationSymbols	configurationSymbols
HeadAndTailSymbols	headAndTailSymbols
JoystickSymbols	joystickSymbols
LEDAndSoundSymbols	ledAndSoundSymbols
KickSelectionSymbols	kickSelectionSymbols
MathFunctions	mathFunctions
MotionRequestSymbols	motionRequestSymbols
ObstaclesSymbols	obstaclesSymbols
RoboCupGameManagerSymbols	roboCupGameManagerSymbols
RobotPoseSymbols	robotPoseSymbols
RobotStateSymbols	robotStateSymbols
SpecialVisionSymbols	specialVisionSymbols
GT2004StrategySymbols	strategySymbols
EvolutionSymbols	evolutionSymbols
ChallengeSymbols	challengeSymbols
OpenChallengeSymbols	openchallengeSymbols
GT2004DTTSymbols	dttSymbols
Basic Behaviors
GT2004SimpleBasicBehaviors	simpleBasicBehaviors
GT2004EvolutionBasicBehaviors	evolutionBasicBehaviors
GT2004PotentialFieldBasicBehaviors	potentialFieldBasicBehaviors
CommonBasicBehaviors	commonBasicBehaviors
GT2004 Evolution stuff
GT2004ParametersSet	gt2004ParametersSet
GT2004Parameters	gt2004ExtraParameters
Pose2D	gt2004ParametersCalibration [128]
Pose2D	measurementRequest
int	evolutionMode
int	gt2004CurrentIndex

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Detailed Description

A Behavior based on the Xabsl2Engine that is used by GermanTeam for the RoboCup 2004.

Author:

Martin Lötzsch

Matthias Jüngel

Definition at line 63 of file GT2004BehaviorControl.h.

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Constructor & Destructor Documentation

GT2004BehaviorControl::GT2004BehaviorControl (  BehaviorControlInterfaces &  interfaces  )

Constructor. Parameters: interfaces  The paramters of the BehaviorControl module. Definition at line 13 of file GT2004BehaviorControl.cpp. References actualOptionRating, actualTacticChooser, ASSERT, GT2004ParametersSet::getParameters(), GT2004Parameters::index, GTXabsl2EngineExecutor::init(), ChooserRaterInterfaces::lastChoosenOption, optionRating, quickStop, GT2004Parameters::requestedMotion, and tacticChooser.

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GT2004BehaviorControl::~GT2004BehaviorControl (   )

destructor Definition at line 77 of file GT2004BehaviorControl.cpp. References actualTacticChooser, optionRating, and tacticChooser.

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Member Function Documentation

void GT2004BehaviorControl::registerSymbolsAndBasicBehaviors (   )  [virtual]

Registers symbols and basic behaviors at the engine. Implements GTXabsl2EngineExecutor. Definition at line 86 of file GT2004BehaviorControl.cpp. References angleSymbols, ballSymbols, calibrationSymbols, challengeSymbols, commonBasicBehaviors, configurationSymbols, dttSymbols, evolutionBasicBehaviors, evolutionSymbols, headAndTailSymbols, joystickSymbols, kickSelectionSymbols, ledAndSoundSymbols, mathFunctions, motionRequestSymbols, obstaclesSymbols, openchallengeSymbols, potentialFieldBasicBehaviors, CommonBasicBehaviors::registerBasicBehaviors(), GT2004PotentialFieldBasicBehaviors::registerBasicBehaviors(), GT2004EvolutionBasicBehaviors::registerBasicBehaviors(), GT2004SimpleBasicBehaviors::registerBasicBehaviors(), GT2004DTTSymbols::registerSymbols(), ChallengeSymbols::registerSymbols(), OpenChallengeSymbols::registerSymbols(), EvolutionSymbols::registerSymbols(), GT2004StrategySymbols::registerSymbols(), SpecialVisionSymbols::registerSymbols(), RobotStateSymbols::registerSymbols(), RobotPoseSymbols::registerSymbols(), RoboCupGameManagerSymbols::registerSymbols(), ObstaclesSymbols::registerSymbols(), MotionRequestSymbols::registerSymbols(), MathFunctions::registerSymbols(), KickSelectionSymbols::registerSymbols(), LEDAndSoundSymbols::registerSymbols(), JoystickSymbols::registerSymbols(), HeadAndTailSymbols::registerSymbols(), GT2004ConfigurationSymbols::registerSymbols(), BallSymbols::registerSymbols(), AngleSymbols::registerSymbols(), CalibrationSymbols::registerSymbols(), roboCupGameManagerSymbols, robotPoseSymbols, robotStateSymbols, simpleBasicBehaviors, specialVisionSymbols, and strategySymbols.

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void GT2004BehaviorControl::preExecute (   )

Sets some varibles for leds and sound before the execution of the engine. Definition at line 114 of file GT2004BehaviorControl.cpp. References GT2004DTTSymbols::actualOption, actualOptionRating, AngleSymbols::angleShownByLEDs, angleSymbols, LEDRequest::backFrontWhiteLED, LEDRequest::backMiddleOrangeLED, LEDRequest::backMiddleWhiteLED, LEDRequest::backRearWhiteLED, BallModel::ballWasSeen, CollectedBeliefs::broadcast(), BallModel::communicated, dttSymbols, LEDRequest::faceLED, SystemCall::getTimeSince(), HeadControlMode::headControlMode, LEDRequest::headOrangeLED, LEDRequest::headWhiteLED, BehaviorTeamMessage::message, OptionRating::rateOptions(), BallModel::seen, SoundRequest::soundID, MotionRequest::tailRequest, TailRequest::tailRequestID, CommunicatedBallPosition::timeWhenLastObserved, SeenBallPosition::timeWhenLastSeen, CollectedBeliefs::trigger(), GT2004DTTSymbols::update(), and CollectedBeliefs::update(). Referenced by execute().

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void GT2004BehaviorControl::execute (   )  [virtual]

Executes the module. Implements Module. Definition at line 227 of file GT2004BehaviorControl.cpp. References angleSymbols, ballSymbols, configurationSymbols, evolutionSymbols, KickLogger::execute(), GTXabsl2EngineExecutor::executeEngine(), kickLogger, obstaclesSymbols, openchallengeSymbols, postExecute(), potentialFieldBasicBehaviors, preExecute(), roboCupGameManagerSymbols, robotPoseSymbols, strategySymbols, GT2004PotentialFieldBasicBehaviors::update(), OpenChallengeSymbols::update(), EvolutionSymbols::update(), GT2004StrategySymbols::update(), RobotPoseSymbols::update(), RoboCupGameManagerSymbols::update(), ObstaclesSymbols::update(), GT2004ConfigurationSymbols::update(), BallSymbols::update(), and AngleSymbols::update().

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void GT2004BehaviorControl::postExecute (   )

Sets some variables for head motion and sound after the execution of the engine. Definition at line 254 of file GT2004BehaviorControl.cpp. References AngleSymbols::angleShownByLEDs, angleSymbols, LEDRequest::backFrontBlueLED, LEDRequest::backFrontWhiteLED, LEDRequest::backMiddleOrangeLED, LEDRequest::backMiddleWhiteLED, LEDRequest::backRearRedLED, LEDRequest::backRearWhiteLED, BallState::ballRollsByLeft, BallState::ballRollsByRight, BallState::ballRollsFast, BallState::ballRollsTowardsRobot, BallModel::ballState, SensorData::data, debugHeadControlMode, MotionInfo::executedMotionRequest, LEDRequest::faceLED, SensorDataBuffer::frame, BehaviorTeamMessage::gameState, AngleSymbols::getAngle(), RobotState::getButtonDuration(), RobotState::getButtonPressed(), getPlayer(), Player::getPlayerNumber(), RobotState::getState(), Player::getTeamColor(), HeadControlMode::headControlMode, SensorDataBuffer::lastFrame(), MotionRequest::motionType, normalize(), ObstaclesSymbols::obstaclesAreClose, obstaclesSymbols, GTXabsl2Profiler::profilerCollectMode, GTXabsl2Profiler::profilerWriteMode, quickStop, ObstaclesSymbols::robotIsStuck, GT2004StrategySymbols::role, SoundRequest::soundID, strategySymbols, toDegrees(), MotionRequest::walkRequest, and WalkRequest::walkType. Referenced by execute().

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bool GT2004BehaviorControl::handleMessage (  InMessage &  message  )  [virtual]

Is called for every incoming debug message. Parameters: message  An interface to read the message from the queue Returns: if the messag was read Reimplemented from Xabsl2BehaviorControl. Definition at line 453 of file GT2004BehaviorControl.cpp. References actualTacticChooser, InMessage::bin, SystemCall::getCurrentSystemTime(), GT2004ParametersSet::getIndexOfMirror(), InMessage::getMessageID(), GT2004ParametersSet::getParameters(), GT2004ParametersSet::getSpeed(), TacticChooser::handleMessage(), KickSelectionSymbols::handleMessage(), Xabsl2BehaviorControl::handleMessage(), idGT2004EvolutionRequest, idGT2004Parameters, idText, GT2004Parameters::index, kickSelectionSymbols, GT2004ParametersSet::load(), OUTPUT, GT2004Parameters::requestedMotion, Pose2D::rotation, GT2004ParametersSet::save(), GT2004ParametersSet::setSpeed(), Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.

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Member Data Documentation

CalibrationSymbols GT2004BehaviorControl::calibrationSymbols [private]

Definition at line 97 of file GT2004BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

AngleSymbols GT2004BehaviorControl::angleSymbols [private]

Definition at line 98 of file GT2004BehaviorControl.h. Referenced by execute(), postExecute(), preExecute(), and registerSymbolsAndBasicBehaviors().

BallSymbols GT2004BehaviorControl::ballSymbols [private]

Definition at line 99 of file GT2004BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

GT2004ConfigurationSymbols GT2004BehaviorControl::configurationSymbols [private]

Definition at line 100 of file GT2004BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

HeadAndTailSymbols GT2004BehaviorControl::headAndTailSymbols [private]

Definition at line 101 of file GT2004BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

JoystickSymbols GT2004BehaviorControl::joystickSymbols [private]

Definition at line 102 of file GT2004BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

LEDAndSoundSymbols GT2004BehaviorControl::ledAndSoundSymbols [private]

Definition at line 103 of file GT2004BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

KickSelectionSymbols GT2004BehaviorControl::kickSelectionSymbols [private]

Definition at line 104 of file GT2004BehaviorControl.h. Referenced by handleMessage(), and registerSymbolsAndBasicBehaviors().

MathFunctions GT2004BehaviorControl::mathFunctions [private]

Definition at line 105 of file GT2004BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

MotionRequestSymbols GT2004BehaviorControl::motionRequestSymbols [private]

Definition at line 106 of file GT2004BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

ObstaclesSymbols GT2004BehaviorControl::obstaclesSymbols [private]

Definition at line 107 of file GT2004BehaviorControl.h. Referenced by execute(), postExecute(), and registerSymbolsAndBasicBehaviors().

RoboCupGameManagerSymbols GT2004BehaviorControl::roboCupGameManagerSymbols [private]

Definition at line 108 of file GT2004BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

RobotPoseSymbols GT2004BehaviorControl::robotPoseSymbols [private]

Definition at line 109 of file GT2004BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

RobotStateSymbols GT2004BehaviorControl::robotStateSymbols [private]

Definition at line 110 of file GT2004BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

SpecialVisionSymbols GT2004BehaviorControl::specialVisionSymbols [private]

Definition at line 111 of file GT2004BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

GT2004StrategySymbols GT2004BehaviorControl::strategySymbols [private]

Definition at line 112 of file GT2004BehaviorControl.h. Referenced by execute(), postExecute(), and registerSymbolsAndBasicBehaviors().

EvolutionSymbols GT2004BehaviorControl::evolutionSymbols [private]

Definition at line 113 of file GT2004BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

ChallengeSymbols GT2004BehaviorControl::challengeSymbols [private]

Definition at line 114 of file GT2004BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

OpenChallengeSymbols GT2004BehaviorControl::openchallengeSymbols [private]

Definition at line 115 of file GT2004BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

GT2004DTTSymbols GT2004BehaviorControl::dttSymbols [private]

Definition at line 116 of file GT2004BehaviorControl.h. Referenced by preExecute(), and registerSymbolsAndBasicBehaviors().

GT2004SimpleBasicBehaviors GT2004BehaviorControl::simpleBasicBehaviors [private]

Definition at line 121 of file GT2004BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

GT2004EvolutionBasicBehaviors GT2004BehaviorControl::evolutionBasicBehaviors [private]

Definition at line 122 of file GT2004BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

GT2004PotentialFieldBasicBehaviors GT2004BehaviorControl::potentialFieldBasicBehaviors [private]

Definition at line 123 of file GT2004BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

CommonBasicBehaviors GT2004BehaviorControl::commonBasicBehaviors [private]

Definition at line 124 of file GT2004BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

GT2004ParametersSet GT2004BehaviorControl::gt2004ParametersSet [private]

Definition at line 129 of file GT2004BehaviorControl.h.

GT2004Parameters GT2004BehaviorControl::gt2004ExtraParameters [private]

Definition at line 130 of file GT2004BehaviorControl.h.

Pose2D GT2004BehaviorControl::gt2004ParametersCalibration[128] [private]

Definition at line 131 of file GT2004BehaviorControl.h.

Pose2D GT2004BehaviorControl::measurementRequest [private]

Definition at line 132 of file GT2004BehaviorControl.h.

int GT2004BehaviorControl::evolutionMode [private]

Definition at line 133 of file GT2004BehaviorControl.h.

int GT2004BehaviorControl::gt2004CurrentIndex [private]

Definition at line 134 of file GT2004BehaviorControl.h.

KickLogger GT2004BehaviorControl::kickLogger [private]

Definition at line 141 of file GT2004BehaviorControl.h. Referenced by execute().

bool GT2004BehaviorControl::quickStop [private]

If quickStop is true, the robot just stands. Definition at line 144 of file GT2004BehaviorControl.h. Referenced by GT2004BehaviorControl(), and postExecute().

HeadControlMode GT2004BehaviorControl::debugHeadControlMode [private]

Indicates which HeadControlMode is set, when the robot is demobilized (quick stop). Definition at line 147 of file GT2004BehaviorControl.h. Referenced by postExecute().

ChooserRaterInterfaces GT2004BehaviorControl::chooserRaterInterfaces [private]

Definition at line 150 of file GT2004BehaviorControl.h.

CollectedBeliefs GT2004BehaviorControl::collectedBeliefs [private]

Definition at line 153 of file GT2004BehaviorControl.h.

OptionRating* GT2004BehaviorControl::optionRating[RateableOptions::numOfOptionRatings] [private]

Definition at line 156 of file GT2004BehaviorControl.h. Referenced by GT2004BehaviorControl(), and ~GT2004BehaviorControl().

OptionRating* GT2004BehaviorControl::actualOptionRating [private]

Definition at line 158 of file GT2004BehaviorControl.h. Referenced by GT2004BehaviorControl(), and preExecute().

TacticChooser* GT2004BehaviorControl::tacticChooser[RateableOptions::numOfTacticChoosers] [private]

Definition at line 161 of file GT2004BehaviorControl.h. Referenced by GT2004BehaviorControl(), and ~GT2004BehaviorControl().

TacticChooser* GT2004BehaviorControl::actualTacticChooser [private]

Definition at line 163 of file GT2004BehaviorControl.h. Referenced by GT2004BehaviorControl(), handleMessage(), and ~GT2004BehaviorControl().

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The documentation for this class was generated from the following files:

• Modules/BehaviorControl/GT2004BehaviorControl/GT2004BehaviorControl.h
• Modules/BehaviorControl/GT2004BehaviorControl/GT2004BehaviorControl.cpp

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