GT2004ObstaclesLocator Class Reference

This class is a locator for obstacles. More...

#include <GT2004ObstaclesLocator.h>

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[legend]List of all members.

Public Types
enum	{ timeAfterWhichObstacleIsForgotten = 6000 }
enum	UpdateMode { overwrite, extend, limit }
Public Member Functions
	GT2004ObstaclesLocator (const ObstaclesLocatorInterfaces &interfaces)
	Constructor.
virtual void	execute ()
	Executes the module.
void	setObstaclesModel (bool addWorldModel=true)
void	moveObstaclesByOdometry ()
void	addLinesPercept ()
void	addObstaclesPercept ()
void	addPSDPercept ()
void	addObstaclePoint (const Vector2< double > &obstaclePoint, UpdateMode mode)
void	addObstaclePoints (const Vector2< int > &nearPoint, const Vector2< int > &farPoint, bool farPointIsOnImageBorder, ObstaclesPercept::ObstacleType obstacleType)
virtual bool	handleMessage (InMessage &message)
	Called from a MessageQueue to distribute messages.
Public Attributes
int	relativeOrientation
Field	field
Vector2< double >	obstacles [ObstaclesModel::numOfSectors]
ObstaclesPercept::ObstacleType	obstacleTypes [ObstaclesModel::numOfSectors]
unsigned long	timestamps [ObstaclesModel::numOfSectors]
double	sectorWidth
OdometryData	lastOdometry
Pose2D	odometry
double	headTiltClipPSD
	head tilt angle below which psd percepts are ignored
bool	usePSD
bool	useLinesPercept
bool	useObstaclesPercept
bool	useAging
Private Member Functions
void	determineFreePartsOfGoals ()
void	determineNextFreeTeammate ()
Private Attributes
unsigned long	lastTimeFreePartOfGoalWasDetermined [2]
	Last time a free part of a goal was detected.
double	angleToFreePartOfGoal [2]
	angle to a free part of the goal, updated by vision and turn(!) odometry
double	widthOfFreePartOfGoal [2]
	the width of the free part of goal
double	distanceToFreePartOfGoal [2]
	the distance to the free part of the goal

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Detailed Description

This class is a locator for obstacles.

Definition at line 18 of file GT2004ObstaclesLocator.h.

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Member Enumeration Documentation

anonymous enum

Enumeration values: timeAfterWhichObstacleIsForgotten  Definition at line 22 of file GT2004ObstaclesLocator.h.

enum GT2004ObstaclesLocator::UpdateMode

Enumeration values: overwrite  extend  limit  Definition at line 61 of file GT2004ObstaclesLocator.h.

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Constructor & Destructor Documentation

GT2004ObstaclesLocator::GT2004ObstaclesLocator (  const ObstaclesLocatorInterfaces &  interfaces  )

Constructor. Parameters: interfaces  The paramters of the ObstaclesLocator module. Definition at line 17 of file GT2004ObstaclesLocator.cpp. References obstacles, obstacleTypes, pi2, sectorWidth, useAging, useLinesPercept, useObstaclesPercept, usePSD, Vector2< double >::x, and Vector2< double >::y.

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Member Function Documentation

void GT2004ObstaclesLocator::execute (   )  [virtual]

Executes the module. Implements Module. Definition at line 36 of file GT2004ObstaclesLocator.cpp. References addLinesPercept(), addObstaclesPercept(), DEBUG_DRAWING_FINISHED, determineFreePartsOfGoals(), determineNextFreeTeammate(), ObstaclesPercept::frameNumber, moveObstaclesByOdometry(), odometry, ObstaclesModel::setFrameNumber(), setObstaclesModel(), useLinesPercept, and useObstaclesPercept.

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void GT2004ObstaclesLocator::setObstaclesModel (  bool  addWorldModel = true  )

Definition at line 115 of file GT2004ObstaclesLocator.cpp. References Vector2< double >::abs(), ObstaclesModel::bodyPSD, ObstaclesModel::corridorInFront, ObstaclesModel::distance, FieldDimensions::distanceToOwnPenaltyArea(), Field::getDistanceToOwnPenaltyArea(), getPlayer(), Player::getPlayerNumber(), ObstaclesModel::getSectorFromAngle(), PSDPercept::numOfPercepts, obstacles, ObstaclesModel::obstacleType, obstacleTypes, pi_2, Vector2< double >::x, and Vector2< double >::y. Referenced by execute().

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void GT2004ObstaclesLocator::moveObstaclesByOdometry (   )

Definition at line 56 of file GT2004ObstaclesLocator.cpp. References ObstaclesModel::getSectorFromAngle(), SystemCall::getTimeSince(), obstacles, obstacleTypes, odometry, Pose2D::rotation, timeAfterWhichObstacleIsForgotten, timestamps, Pose2D::translation, useAging, Vector2< double >::x, and Vector2< double >::y. Referenced by execute().

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void GT2004ObstaclesLocator::addLinesPercept (   )

Definition at line 246 of file GT2004ObstaclesLocator.cpp. References addObstaclePoint(), extend, limit, LinesPercept::numberOfPoints, and LinesPercept::points. Referenced by execute().

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void GT2004ObstaclesLocator::addObstaclesPercept (   )

Definition at line 266 of file GT2004ObstaclesLocator.cpp. References addObstaclePoints(), ObstaclesPercept::farPointIsOnImageBorder, ObstaclesPercept::farPoints, ObstaclesPercept::nearPoints, ObstaclesPercept::numberOfPoints, and ObstaclesPercept::obstacleType. Referenced by execute().

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void GT2004ObstaclesLocator::addPSDPercept (   )

Definition at line 194 of file GT2004ObstaclesLocator.cpp. References Vector2< V >::angle(), Geometry::angleTo(), DOT, SystemCall::getCurrentSystemTime(), RobotPose::getPose(), ObstaclesModel::getSectorFromAngle(), SystemCall::getTimeSince(), headTiltClipPSD, normalize(), PSDPercept::numOfPercepts, obstacles, BallModel::seen, timestamps, SeenBallPosition::timeWhenLastSeen, toDegrees(), Vector2< V >::x, Vector2< double >::x, Vector2< double >::y, and Vector2< V >::y.

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void GT2004ObstaclesLocator::addObstaclePoint (  const Vector2< double > &  obstaclePoint, UpdateMode  mode )

Definition at line 293 of file GT2004ObstaclesLocator.cpp. References DOT, SystemCall::getCurrentSystemTime(), ObstaclesModel::getSectorFromAngle(), idText, normalize(), and OUTPUT. Referenced by addLinesPercept().

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void GT2004ObstaclesLocator::addObstaclePoints (  const Vector2< int > &  nearPoint, const Vector2< int > &  farPoint, bool  farPointIsOnImageBorder, ObstaclesPercept::ObstacleType  obstacleType )

Definition at line 361 of file GT2004ObstaclesLocator.cpp. References SystemCall::getCurrentSystemTime(), ObstaclesModel::getSectorFromAngle(), idText, normalize(), and OUTPUT. Referenced by addObstaclesPercept().

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bool GT2004ObstaclesLocator::handleMessage (  InMessage &  message  )  [virtual]

Called from a MessageQueue to distribute messages. Use message.getMessageID to decide if the message is relavant for the MesssageHandler derivate. Use message.bin, message.text or message.config as In streams to get the data from. Parameters: message  The message that can be read. Returns: true if the message was read (handled). Reimplemented from Module. Definition at line 485 of file GT2004ObstaclesLocator.cpp. References InMessage::bin, GenericDebugData::data, InMessage::getMessageID(), headTiltClipPSD, GenericDebugData::id, idGenericDebugData, idText, OUTPUT, useAging, useLinesPercept, and usePSD.

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void GT2004ObstaclesLocator::determineFreePartsOfGoals (   )  [private]

Definition at line 399 of file GT2004ObstaclesLocator.cpp. References ObstaclesModel::angleToFreePartOfGoal, ObstaclesPercept::angleToFreePartOfGoal, ObstaclesModel::angleToFreePartOfGoalWasDetermined, ObstaclesPercept::angleToFreePartOfGoalWasDetermined, ObstaclesModel::distanceToFreePartOfGoal, ObstaclesPercept::distanceToFreePartOfGoal, Pose2D::getAngle(), SystemCall::getCurrentSystemTime(), SystemCall::getTimeSince(), lastTimeFreePartOfGoalWasDetermined, odometry, ObstaclesModel::widthOfFreePartOfGoal, and ObstaclesPercept::widthOfFreePartOfGoal. Referenced by execute().

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void GT2004ObstaclesLocator::determineNextFreeTeammate (   )  [private]

Definition at line 444 of file GT2004ObstaclesLocator.cpp. References Vector2< double >::abs(), ObstaclesModel::angleToNextFreeTeammate, ObstaclesModel::angleToNextFreeTeammateWasDetermined, ObstaclesModel::distanceToNextFreeTeammate, PlayerPoseCollection::getOwnPlayerPose(), PlayerPose::getPose(), ObstaclesModel::getSectorFromAngle(), normalize(), PlayerPoseCollection::numberOfOwnPlayers, obstacles, and Pose2D::translation. Referenced by execute().

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Member Data Documentation

int GT2004ObstaclesLocator::relativeOrientation

Definition at line 32 of file GT2004ObstaclesLocator.h.

Field GT2004ObstaclesLocator::field

Definition at line 34 of file GT2004ObstaclesLocator.h.

Vector2<double> GT2004ObstaclesLocator::obstacles[ObstaclesModel::numOfSectors]

Definition at line 35 of file GT2004ObstaclesLocator.h. Referenced by addPSDPercept(), determineNextFreeTeammate(), GT2004ObstaclesLocator(), moveObstaclesByOdometry(), and setObstaclesModel().

ObstaclesPercept::ObstacleType GT2004ObstaclesLocator::obstacleTypes[ObstaclesModel::numOfSectors]

Definition at line 36 of file GT2004ObstaclesLocator.h. Referenced by GT2004ObstaclesLocator(), moveObstaclesByOdometry(), and setObstaclesModel().

unsigned long GT2004ObstaclesLocator::timestamps[ObstaclesModel::numOfSectors]

Definition at line 38 of file GT2004ObstaclesLocator.h. Referenced by addPSDPercept(), and moveObstaclesByOdometry().

double GT2004ObstaclesLocator::sectorWidth

Definition at line 40 of file GT2004ObstaclesLocator.h. Referenced by GT2004ObstaclesLocator().

OdometryData GT2004ObstaclesLocator::lastOdometry

Definition at line 41 of file GT2004ObstaclesLocator.h.

Pose2D GT2004ObstaclesLocator::odometry

Definition at line 42 of file GT2004ObstaclesLocator.h. Referenced by determineFreePartsOfGoals(), execute(), and moveObstaclesByOdometry().

double GT2004ObstaclesLocator::headTiltClipPSD

head tilt angle below which psd percepts are ignored Definition at line 45 of file GT2004ObstaclesLocator.h. Referenced by addPSDPercept(), and handleMessage().

bool GT2004ObstaclesLocator::usePSD

Definition at line 50 of file GT2004ObstaclesLocator.h. Referenced by GT2004ObstaclesLocator(), and handleMessage().

bool GT2004ObstaclesLocator::useLinesPercept

Definition at line 51 of file GT2004ObstaclesLocator.h. Referenced by execute(), GT2004ObstaclesLocator(), and handleMessage().

bool GT2004ObstaclesLocator::useObstaclesPercept

Definition at line 52 of file GT2004ObstaclesLocator.h. Referenced by execute(), and GT2004ObstaclesLocator().

bool GT2004ObstaclesLocator::useAging

Definition at line 53 of file GT2004ObstaclesLocator.h. Referenced by GT2004ObstaclesLocator(), handleMessage(), and moveObstaclesByOdometry().

unsigned long GT2004ObstaclesLocator::lastTimeFreePartOfGoalWasDetermined[2] [private]

Last time a free part of a goal was detected. Definition at line 78 of file GT2004ObstaclesLocator.h. Referenced by determineFreePartsOfGoals().

double GT2004ObstaclesLocator::angleToFreePartOfGoal[2] [private]

angle to a free part of the goal, updated by vision and turn(!) odometry Definition at line 81 of file GT2004ObstaclesLocator.h.

double GT2004ObstaclesLocator::widthOfFreePartOfGoal[2] [private]

the width of the free part of goal Definition at line 84 of file GT2004ObstaclesLocator.h.

double GT2004ObstaclesLocator::distanceToFreePartOfGoal[2] [private]

the distance to the free part of the goal Definition at line 87 of file GT2004ObstaclesLocator.h.

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

• Modules/ObstaclesLocator/GT2004ObstaclesLocator.h
• Modules/ObstaclesLocator/GT2004ObstaclesLocator.cpp

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