GT2004RobotStateDetector Class Reference

#include <GT2004RobotStateDetector.h>

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[legend]List of all members.

Public Member Functions
	GT2004RobotStateDetector (const RobotStateDetectorInterfaces &interfaces)
	Constructor.
virtual void	execute ()
	Executes the module.
Private Types
enum	{   middle = 0, left, right,   robotSides }
enum	{ maxFrameHistory = 200 }
Private Member Functions
void	calculateCollisionState ()
void	setNewButtonStatus ()
int	getCollisionSide ()
	Did collision occur at front left leg.
void	setCollisionOnLeftSide (bool collision)
void	setCollisionOnRightSide (bool collision)
Private Attributes
bool	switchDown [BodyPercept::numOfSwitches]
long	switchDownTime [BodyPercept::numOfSwitches]
long	timeSinceLastCollision [6]
long	consecutiveCollisionTime [6]
long	remindCollision
bool	numOfCollisions [maxFrameHistory][robotSides]
bool	buttonPressed [BodyPercept::numOfSwitches]
long	buttonTime [BodyPercept::numOfSwitches]
long	buttonPressedTime [BodyPercept::numOfSwitches]
long	buttonDuration [BodyPercept::numOfSwitches]
bool	anyBackButtonPressed
long	anyBackButtonTime
long	anyBackButtonPressedTime
long	anyBackButtonDuration

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Member Enumeration Documentation

anonymous enum [private]

Enumeration values: middle  left  right  robotSides  Definition at line 50 of file GT2004RobotStateDetector.h.

anonymous enum [private]

Enumeration values: maxFrameHistory  Definition at line 55 of file GT2004RobotStateDetector.h.

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Constructor & Destructor Documentation

GT2004RobotStateDetector::GT2004RobotStateDetector (  const RobotStateDetectorInterfaces &  interfaces  )

Constructor. Parameters: interfaces  The paramters of the RobotStateDetector module. Definition at line 12 of file GT2004RobotStateDetector.cpp. References consecutiveCollisionTime, maxFrameHistory, numOfCollisions, remindCollision, robotSides, setNewButtonStatus(), switchDown, and timeSinceLastCollision.

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Member Function Documentation

void GT2004RobotStateDetector::execute (   )  [virtual]

Executes the module. Implements Module. Definition at line 51 of file GT2004RobotStateDetector.cpp. References BodyPercept::acceleration, RobotState::acceleration, calculateCollisionState(), BodyPercept::frameNumber, BodyPercept::getBodyPSDDistance(), BodyPercept::getBodyPSDHighValue(), SystemCall::getCurrentSystemTime(), BodyPercept::getMouthState(), BodyPercept::getState(), BodyPercept::getSwitches(), SystemCall::getTimeSince(), RobotState::setDistanceToSIFOC(), RobotState::setFrameNumber(), RobotState::setMouthState(), setNewButtonStatus(), RobotState::setSomethingInFrontOfChest(), RobotState::setState(), RobotState::setTimeWhenSomethingWasInFrontOfChestLast(), switchDown, and switchDownTime.

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void GT2004RobotStateDetector::calculateCollisionState (   )  [private]

Definition at line 169 of file GT2004RobotStateDetector.cpp. References consecutiveCollisionTime, CollisionPercept::getCollisionAggregate(), CollisionPercept::getCollisionFrontLeft(), CollisionPercept::getCollisionFrontRight(), CollisionPercept::getCollisionHead(), CollisionPercept::getCollisionHindLeft(), CollisionPercept::getCollisionHindRight(), getCollisionSide(), SystemCall::getCurrentSystemTime(), remindCollision, RobotState::setCollisionAggregate(), RobotState::setCollisionFrontLeft(), RobotState::setCollisionFrontRight(), RobotState::setCollisionHead(), RobotState::setCollisionHindLeft(), RobotState::setCollisionHindRight(), setCollisionOnLeftSide(), setCollisionOnRightSide(), RobotState::setCollisionSide(), RobotState::setConsecutiveCollisionTimeAggregate(), RobotState::setConsecutiveCollisionTimeFrontLeft(), RobotState::setConsecutiveCollisionTimeFrontRight(), RobotState::setConsecutiveCollisionTimeHead(), RobotState::setConsecutiveCollisionTimeHindLeft(), RobotState::setConsecutiveCollisionTimeHindRight(), and timeSinceLastCollision. Referenced by execute().

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void GT2004RobotStateDetector::setNewButtonStatus (   )  [private]

Definition at line 157 of file GT2004RobotStateDetector.cpp. References RobotState::setAnyBackButtonDuration(), RobotState::setAnyBackButtonPressed(), RobotState::setAnyBackButtonPressedTime(), RobotState::setAnyBackButtonTime(), RobotState::setButtonDuration(), RobotState::setButtonPressed(), RobotState::setButtonPressedTime(), and RobotState::setButtonTime(). Referenced by execute(), and GT2004RobotStateDetector().

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int GT2004RobotStateDetector::getCollisionSide (   )  [private]

Did collision occur at front left leg. Definition at line 311 of file GT2004RobotStateDetector.cpp. References maxFrameHistory, middle, and numOfCollisions. Referenced by calculateCollisionState().

void GT2004RobotStateDetector::setCollisionOnLeftSide (  bool  collision  )  [private]

Definition at line 327 of file GT2004RobotStateDetector.cpp. References CollisionPercept::frameNumber, maxFrameHistory, and numOfCollisions. Referenced by calculateCollisionState().

void GT2004RobotStateDetector::setCollisionOnRightSide (  bool  collision  )  [private]

Definition at line 332 of file GT2004RobotStateDetector.cpp. References CollisionPercept::frameNumber, maxFrameHistory, and numOfCollisions. Referenced by calculateCollisionState().

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Member Data Documentation

bool GT2004RobotStateDetector::switchDown[BodyPercept::numOfSwitches] [private]

Definition at line 41 of file GT2004RobotStateDetector.h. Referenced by execute(), and GT2004RobotStateDetector().

long GT2004RobotStateDetector::switchDownTime[BodyPercept::numOfSwitches] [private]

Definition at line 42 of file GT2004RobotStateDetector.h. Referenced by execute().

long GT2004RobotStateDetector::timeSinceLastCollision[6] [private]

Definition at line 43 of file GT2004RobotStateDetector.h. Referenced by calculateCollisionState(), and GT2004RobotStateDetector().

long GT2004RobotStateDetector::consecutiveCollisionTime[6] [private]

Definition at line 44 of file GT2004RobotStateDetector.h. Referenced by calculateCollisionState(), and GT2004RobotStateDetector().

long GT2004RobotStateDetector::remindCollision [private]

Definition at line 45 of file GT2004RobotStateDetector.h. Referenced by calculateCollisionState(), and GT2004RobotStateDetector().

bool GT2004RobotStateDetector::numOfCollisions[maxFrameHistory][robotSides] [private]

Definition at line 57 of file GT2004RobotStateDetector.h. Referenced by getCollisionSide(), GT2004RobotStateDetector(), setCollisionOnLeftSide(), and setCollisionOnRightSide().

bool GT2004RobotStateDetector::buttonPressed[BodyPercept::numOfSwitches] [private]

Definition at line 61 of file GT2004RobotStateDetector.h.

long GT2004RobotStateDetector::buttonTime[BodyPercept::numOfSwitches] [private]

Definition at line 62 of file GT2004RobotStateDetector.h.

long GT2004RobotStateDetector::buttonPressedTime[BodyPercept::numOfSwitches] [private]

Definition at line 63 of file GT2004RobotStateDetector.h.

long GT2004RobotStateDetector::buttonDuration[BodyPercept::numOfSwitches] [private]

Definition at line 64 of file GT2004RobotStateDetector.h.

bool GT2004RobotStateDetector::anyBackButtonPressed [private]

Definition at line 65 of file GT2004RobotStateDetector.h.

long GT2004RobotStateDetector::anyBackButtonTime [private]

Definition at line 66 of file GT2004RobotStateDetector.h.

long GT2004RobotStateDetector::anyBackButtonPressedTime [private]

Definition at line 67 of file GT2004RobotStateDetector.h.

long GT2004RobotStateDetector::anyBackButtonDuration [private]

Definition at line 68 of file GT2004RobotStateDetector.h.

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

• Modules/RobotStateDetector/GT2004RobotStateDetector.h
• Modules/RobotStateDetector/GT2004RobotStateDetector.cpp

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