GT2004CollisionDetector Class Reference

The default CollisionDetector in the GT2004 project. More...

#include <GT2004CollisionDetector.h>

Inheritance diagram for GT2004CollisionDetector:

[legend]Collaboration diagram for GT2004CollisionDetector:

[legend]List of all members.

Public Member Functions
	GT2004CollisionDetector (const CollisionDetectorInterfaces &interfaces)
	Constructor.
virtual void	execute ()
	Executes the module.
Private Member Functions
void	calculateThresholds ()
	Calculated the angle thresholds.
Private Attributes
int	ringBuffer [SensorData::numOfSensor_ERS210][128][2]
int	floatingAvg [SensorData::numOfSensor_ERS210][SensorDataBuffer::maxNumOfFrames][16]
int	minAvg [SensorData::numOfSensor_ERS210][SensorDataBuffer::maxNumOfFrames]
int	threshold [SensorData::numOfSensor_ERS210][3]
int	oldVal
int	newVal
int	index
int	min
int	max
int	infin
int	walkingMode
int	q
double	lastMotionChange
double	currentMotionX
double	currentMotionY
double	currentRotation
double	lastMotionX
double	lastMotionY
double	lastRotation
double	motionChangeThresholdX
double	motionChangeThresholdY
double	motionChangeThresholdR
double	frontMin
double	frontMax
double	backMin
double	backMax
double	sideMin
double	sideMax
double	rotMin
double	rotMax
double	calmDown
double	scaleThresholdFore
double	scaleThresholdBack
double	scaleThresholdSide
double	scaleThresholdRot
double	motionChangeThresholdFactor
double	lastTooBigMotionChange
double	xRatio
double	yRatio
double	rRatio

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Detailed Description

The default CollisionDetector in the GT2004 project.

Definition at line 18 of file GT2004CollisionDetector.h.

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Constructor & Destructor Documentation

GT2004CollisionDetector::GT2004CollisionDetector (  const CollisionDetectorInterfaces &  interfaces  )

Constructor. Definition at line 22 of file GT2004CollisionDetector.cpp. References max, and min.

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Member Function Documentation

void GT2004CollisionDetector::execute (   )  [virtual]

Executes the module. Implements Module. Definition at line 425 of file GT2004CollisionDetector.cpp. References calculateThresholds(), calmDown, currentMotionX, currentMotionY, currentRotation, SensorData::data, MotionInfo::executedMotionRequest, floatingAvg, SensorDataBuffer::frame, SensorData::frameNumber, lastMotionChange, lastMotionX, lastMotionY, max, min, min, minAvg, motionChangeThresholdFactor, motionChangeThresholdR, motionChangeThresholdX, motionChangeThresholdY, MotionRequest::motionType, newVal, SensorDataBuffer::numOfFrames, oldVal, q, SensorData::refValue, CollisionPercept::reset(), ringBuffer, Pose2D::rotation, rRatio, CollisionPercept::setFrameNumber(), CollisionPercept::state, threshold, Pose2D::translation, walkingMode, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< double >::x, xRatio, Vector2< double >::y, and yRatio.

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void GT2004CollisionDetector::calculateThresholds (   )  [private]

Calculated the angle thresholds. To Test Definition at line 112 of file GT2004CollisionDetector.cpp. References backMax, currentMotionX, currentMotionY, currentRotation, frontMax, frontMin, infin, rotMax, rotMin, scaleThresholdBack, scaleThresholdFore, scaleThresholdRot, scaleThresholdSide, sideMax, sideMin, threshold, and walkingMode. Referenced by execute().

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Member Data Documentation

int GT2004CollisionDetector::ringBuffer[SensorData::numOfSensor_ERS210][128][2] [private]

Definition at line 21 of file GT2004CollisionDetector.h. Referenced by execute().

int GT2004CollisionDetector::floatingAvg[SensorData::numOfSensor_ERS210][SensorDataBuffer::maxNumOfFrames][16] [private]

Definition at line 22 of file GT2004CollisionDetector.h. Referenced by execute().

int GT2004CollisionDetector::minAvg[SensorData::numOfSensor_ERS210][SensorDataBuffer::maxNumOfFrames] [private]

Definition at line 23 of file GT2004CollisionDetector.h. Referenced by execute().

int GT2004CollisionDetector::threshold[SensorData::numOfSensor_ERS210][3] [private]

Definition at line 24 of file GT2004CollisionDetector.h. Referenced by calculateThresholds(), and execute().

int GT2004CollisionDetector::oldVal [private]

Definition at line 25 of file GT2004CollisionDetector.h. Referenced by execute().

int GT2004CollisionDetector::newVal [private]

Definition at line 26 of file GT2004CollisionDetector.h. Referenced by execute().

int GT2004CollisionDetector::index [private]

Definition at line 27 of file GT2004CollisionDetector.h.

int GT2004CollisionDetector::min [private]

Definition at line 28 of file GT2004CollisionDetector.h. Referenced by execute().

int GT2004CollisionDetector::max [private]

Definition at line 29 of file GT2004CollisionDetector.h. Referenced by execute().

int GT2004CollisionDetector::infin [private]

Definition at line 30 of file GT2004CollisionDetector.h. Referenced by calculateThresholds().

int GT2004CollisionDetector::walkingMode [private]

Definition at line 31 of file GT2004CollisionDetector.h. Referenced by calculateThresholds(), and execute().

int GT2004CollisionDetector::q [private]

Definition at line 32 of file GT2004CollisionDetector.h. Referenced by execute().

double GT2004CollisionDetector::lastMotionChange [private]

Definition at line 34 of file GT2004CollisionDetector.h. Referenced by execute().

double GT2004CollisionDetector::currentMotionX [private]

Definition at line 35 of file GT2004CollisionDetector.h. Referenced by calculateThresholds(), and execute().

double GT2004CollisionDetector::currentMotionY [private]

Definition at line 36 of file GT2004CollisionDetector.h. Referenced by calculateThresholds(), and execute().

double GT2004CollisionDetector::currentRotation [private]

Definition at line 37 of file GT2004CollisionDetector.h. Referenced by calculateThresholds(), and execute().

double GT2004CollisionDetector::lastMotionX [private]

Definition at line 38 of file GT2004CollisionDetector.h. Referenced by execute().

double GT2004CollisionDetector::lastMotionY [private]

Definition at line 39 of file GT2004CollisionDetector.h. Referenced by execute().

double GT2004CollisionDetector::lastRotation [private]

Definition at line 40 of file GT2004CollisionDetector.h.

double GT2004CollisionDetector::motionChangeThresholdX [private]

Definition at line 41 of file GT2004CollisionDetector.h. Referenced by execute().

double GT2004CollisionDetector::motionChangeThresholdY [private]

Definition at line 42 of file GT2004CollisionDetector.h. Referenced by execute().

double GT2004CollisionDetector::motionChangeThresholdR [private]

Definition at line 43 of file GT2004CollisionDetector.h. Referenced by execute().

double GT2004CollisionDetector::frontMin [private]

Definition at line 45 of file GT2004CollisionDetector.h. Referenced by calculateThresholds().

double GT2004CollisionDetector::frontMax [private]

Definition at line 46 of file GT2004CollisionDetector.h. Referenced by calculateThresholds().

double GT2004CollisionDetector::backMin [private]

Definition at line 47 of file GT2004CollisionDetector.h.

double GT2004CollisionDetector::backMax [private]

Definition at line 48 of file GT2004CollisionDetector.h. Referenced by calculateThresholds().

double GT2004CollisionDetector::sideMin [private]

Definition at line 49 of file GT2004CollisionDetector.h. Referenced by calculateThresholds().

double GT2004CollisionDetector::sideMax [private]

Definition at line 50 of file GT2004CollisionDetector.h. Referenced by calculateThresholds().

double GT2004CollisionDetector::rotMin [private]

Definition at line 51 of file GT2004CollisionDetector.h. Referenced by calculateThresholds().

double GT2004CollisionDetector::rotMax [private]

Definition at line 52 of file GT2004CollisionDetector.h. Referenced by calculateThresholds().

double GT2004CollisionDetector::calmDown [private]

Definition at line 53 of file GT2004CollisionDetector.h. Referenced by execute().

double GT2004CollisionDetector::scaleThresholdFore [private]

Definition at line 54 of file GT2004CollisionDetector.h. Referenced by calculateThresholds().

double GT2004CollisionDetector::scaleThresholdBack [private]

Definition at line 55 of file GT2004CollisionDetector.h. Referenced by calculateThresholds().

double GT2004CollisionDetector::scaleThresholdSide [private]

Definition at line 56 of file GT2004CollisionDetector.h. Referenced by calculateThresholds().

double GT2004CollisionDetector::scaleThresholdRot [private]

Definition at line 57 of file GT2004CollisionDetector.h. Referenced by calculateThresholds().

double GT2004CollisionDetector::motionChangeThresholdFactor [private]

Definition at line 58 of file GT2004CollisionDetector.h. Referenced by execute().

double GT2004CollisionDetector::lastTooBigMotionChange [private]

Definition at line 59 of file GT2004CollisionDetector.h.

double GT2004CollisionDetector::xRatio [private]

Definition at line 60 of file GT2004CollisionDetector.h. Referenced by execute().

double GT2004CollisionDetector::yRatio [private]

Definition at line 61 of file GT2004CollisionDetector.h. Referenced by execute().

double GT2004CollisionDetector::rRatio [private]

Definition at line 62 of file GT2004CollisionDetector.h. Referenced by execute().

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

• Modules/CollisionDetector/GT2004CollisionDetector.h
• Modules/CollisionDetector/GT2004CollisionDetector.cpp

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