GT2004HeadControlSymbols Class Reference

The Xabsl2 symbols that are defined in "symbols.xml". More...

#include <GT2004HeadControlSymbols.h>

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[legend]List of all members.

Public Member Functions
	GT2004HeadControlSymbols (const HeadControlInterfaces &interfaces, GT2004HeadControl &headControl, GT2004BasicBehaviorDirectedScanForLandmarks &gt2004BasicBehaviorDirectedScanForLandmarks)
void	registerSymbols (Xabsl2Engine &engine)
	registers the symbols at an engine
void	update ()
	updates the symbols
Input symbols
double	getPositionInWalkCycle ()
double	getBallTimeSinceLastSeen ()
double	getTimeSinceLastSeenConsecutively ()
double	getBallConsecutivelySeenTime ()
double	getCommunicatedBallDistance ()
double	getRelativeBallSpeedX ()
double	getRelativeBallSpeedY ()
double	getBallSpeedAbs ()
double	getSeenDistance ()
double	getTimeSinceLastSeenABeacon ()
double	getTimeBetweenSeen2LastBeacons ()
bool	getBodyPSDDetectBall ()
bool	getLastHeadPathIsFinished ()
bool	getSetJointsIsCloseToDestination ()
bool	getSetJointsMaxPanReached ()
bool	getNextLandmarkIsWithinReach ()
bool	getReleasingBallLeftIsPossible ()
bool	getReleasingBallRightIsPossible ()
Private Attributes
GT2004HeadControl &	headControl
	A reference to the HeadControl module.
GT2004BasicBehaviorDirectedScanForLandmarks &	gt2004BasicBehaviorDirectedScanForLandmarks
int	lastSeenBeaconIndex

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Detailed Description

The Xabsl2 symbols that are defined in "symbols.xml".

Author:

Martin Lötzsch

Definition at line 26 of file GT2004HeadControlSymbols.h.

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Constructor & Destructor Documentation

GT2004HeadControlSymbols::GT2004HeadControlSymbols (  const HeadControlInterfaces &  interfaces, GT2004HeadControl &  headControl, GT2004BasicBehaviorDirectedScanForLandmarks &  gt2004BasicBehaviorDirectedScanForLandmarks )

Definition at line 11 of file GT2004HeadControlSymbols.cpp. References lastSeenBeaconIndex.

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Member Function Documentation

void GT2004HeadControlSymbols::registerSymbols (  Xabsl2Engine &  engine  )

registers the symbols at an engine Definition at line 20 of file GT2004HeadControlSymbols.cpp. References getBallConsecutivelySeenTime(), getBallSpeedAbs(), getBallTimeSinceLastSeen(), getBodyPSDDetectBall(), getCommunicatedBallDistance(), getLastHeadPathIsFinished(), getNextLandmarkIsWithinReach(), getPositionInWalkCycle(), getRelativeBallSpeedX(), getRelativeBallSpeedY(), getReleasingBallLeftIsPossible(), getReleasingBallRightIsPossible(), getSeenDistance(), getSetJointsIsCloseToDestination(), getSetJointsMaxPanReached(), getTimeBetweenSeen2LastBeacons(), getTimeSinceLastSeenABeacon(), getTimeSinceLastSeenConsecutively(), HeadControlMode::headControlMode, Xabsl2Symbols::registerBooleanInputSymbol(), Xabsl2Symbols::registerDecimalInputSymbol(), Xabsl2Symbols::registerEnumeratedInputSymbol(), and Xabsl2Symbols::registerEnumeratedInputSymbolEnumElement(). Referenced by GT2004HeadControl::registerSymbolsAndBasicBehaviors().

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void GT2004HeadControlSymbols::update (   )

updates the symbols Definition at line 89 of file GT2004HeadControlSymbols.cpp. References GT2004HeadControl::getLastSeenBeaconIndex(), and lastSeenBeaconIndex. Referenced by GT2004HeadControl::execute().

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double GT2004HeadControlSymbols::getPositionInWalkCycle (   )

A function for the symbol "position-in-walk-cycle" Definition at line 188 of file GT2004HeadControlSymbols.cpp. References MotionInfo::positionInWalkCycle. Referenced by registerSymbols().

double GT2004HeadControlSymbols::getBallTimeSinceLastSeen (   )

A function for the symbol "ball.time-since-last-seen" Definition at line 96 of file GT2004HeadControlSymbols.cpp. References SystemCall::getTimeSince(), BallModel::seen, and SeenBallPosition::timeWhenLastSeen. Referenced by registerSymbols().

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double GT2004HeadControlSymbols::getTimeSinceLastSeenConsecutively (   )

A function for the symbol "ball.time-since-last-seen-consecutively" Definition at line 107 of file GT2004HeadControlSymbols.cpp. References SystemCall::getTimeSince(), BallModel::seen, and SeenBallPosition::timeUntilSeenConsecutively. Referenced by registerSymbols().

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double GT2004HeadControlSymbols::getBallConsecutivelySeenTime (   )

A function for the symbol "ball.consecutive-seen-time" Definition at line 101 of file GT2004HeadControlSymbols.cpp. References BallModel::seen, SeenBallPosition::timeUntilSeenConsecutively, and SeenBallPosition::timeWhenFirstSeenConsecutively. Referenced by registerSymbols().

double GT2004HeadControlSymbols::getCommunicatedBallDistance (   )

A function for the symbol "ball.communicated-ball-distance" Definition at line 117 of file GT2004HeadControlSymbols.cpp. References BallModel::communicated, and Pose2D::translation. Referenced by registerSymbols().

double GT2004HeadControlSymbols::getRelativeBallSpeedX (   )

A function for the symbol "ball.relative-speed-x" Definition at line 122 of file GT2004HeadControlSymbols.cpp. References Pose2D::rotation, BallModel::seen, SeenBallPosition::speed, Vector2< double >::x, and Vector2< double >::y. Referenced by registerSymbols().

double GT2004HeadControlSymbols::getRelativeBallSpeedY (   )

A function for the symbol "ball.relative-speed-y" Definition at line 128 of file GT2004HeadControlSymbols.cpp. References Pose2D::rotation, BallModel::seen, SeenBallPosition::speed, Vector2< double >::x, and Vector2< double >::y. Referenced by registerSymbols().

double GT2004HeadControlSymbols::getBallSpeedAbs (   )

A function for the symbol "ball.speed-abs" Definition at line 134 of file GT2004HeadControlSymbols.cpp. References Vector2< double >::abs(), BallModel::seen, and SeenBallPosition::speed. Referenced by registerSymbols().

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double GT2004HeadControlSymbols::getSeenDistance (   )

A function for the symbol "ball.seen.distance" Definition at line 112 of file GT2004HeadControlSymbols.cpp. References Geometry::distanceTo(), RobotPose::getPose(), and BallModel::seen. Referenced by registerSymbols().

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double GT2004HeadControlSymbols::getTimeSinceLastSeenABeacon (   )

A function for the symbol "time-since-last-seen-beacon" Definition at line 139 of file GT2004HeadControlSymbols.cpp. References GT2004HeadControl::getTimeOfLastSeenBeacon(), SystemCall::getTimeSince(), and lastSeenBeaconIndex. Referenced by registerSymbols().

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double GT2004HeadControlSymbols::getTimeBetweenSeen2LastBeacons (   )

A function for the symbol "time-between-last-beacons" Definition at line 144 of file GT2004HeadControlSymbols.cpp. References GT2004HeadControl::getTimeBetweenSeen2LastBeacons(), and lastSeenBeaconIndex. Referenced by registerSymbols().

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bool GT2004HeadControlSymbols::getBodyPSDDetectBall (   )

A function for the symbol "body-PSD-detect-ball" Definition at line 149 of file GT2004HeadControlSymbols.cpp. References RobotState::getSomethingInFrontOfChest(). Referenced by registerSymbols().

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bool GT2004HeadControlSymbols::getLastHeadPathIsFinished (   )

A function for the symbol "last-head-path-is-finished" Definition at line 154 of file GT2004HeadControlSymbols.cpp. References GT2004HeadControl::headPathPlanner, and GT2004HeadPathPlanner::isLastPathFinished(). Referenced by registerSymbols().

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bool GT2004HeadControlSymbols::getSetJointsIsCloseToDestination (   )

A function for the symbol "set-joints-is-close-to-destination" Definition at line 159 of file GT2004HeadControlSymbols.cpp. References GT2004HeadControl::setJointsIsCloseToDestination. Referenced by registerSymbols().

bool GT2004HeadControlSymbols::getSetJointsMaxPanReached (   )

A function for the symbol "set-joints-max-pan-reached" Definition at line 164 of file GT2004HeadControlSymbols.cpp. References GT2004HeadControl::setJointsMaxPanReached. Referenced by registerSymbols().

bool GT2004HeadControlSymbols::getNextLandmarkIsWithinReach (   )

A function for the symbol "next-landmark-is-within-reach" Definition at line 169 of file GT2004HeadControlSymbols.cpp. References gt2004BasicBehaviorDirectedScanForLandmarks, and GT2004BasicBehaviorDirectedScanForLandmarks::nextLandmarkIsWithinReach. Referenced by registerSymbols().

bool GT2004HeadControlSymbols::getReleasingBallLeftIsPossible (   )

A function for the symbol "releasing-ball-left-is-possible" Definition at line 174 of file GT2004HeadControlSymbols.cpp. References MotionInfo::positionInWalkCycle. Referenced by registerSymbols().

bool GT2004HeadControlSymbols::getReleasingBallRightIsPossible (   )

A function for the symbol "releasing-ball-right-is-possible" Definition at line 181 of file GT2004HeadControlSymbols.cpp. References MotionInfo::positionInWalkCycle. Referenced by registerSymbols().

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Member Data Documentation

GT2004HeadControl& GT2004HeadControlSymbols::headControl [private]

A reference to the HeadControl module. Definition at line 68 of file GT2004HeadControlSymbols.h.

GT2004BasicBehaviorDirectedScanForLandmarks& GT2004HeadControlSymbols::gt2004BasicBehaviorDirectedScanForLandmarks [private]

Definition at line 69 of file GT2004HeadControlSymbols.h. Referenced by getNextLandmarkIsWithinReach().

int GT2004HeadControlSymbols::lastSeenBeaconIndex [private]

Definition at line 71 of file GT2004HeadControlSymbols.h. Referenced by getTimeBetweenSeen2LastBeacons(), getTimeSinceLastSeenABeacon(), GT2004HeadControlSymbols(), and update().

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

• Modules/HeadControl/GT2004HeadControl/GT2004HeadControlSymbols.h
• Modules/HeadControl/GT2004HeadControl/GT2004HeadControlSymbols.cpp

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