GTStandardConverter Class Reference

A class to use the PotentialfieldComposition inside the GT2004 architecture. More...

#include <GTStandardConverter.h>

Collaboration diagram for GTStandardConverter:

[legend]List of all members.

Public Member Functions
	GTStandardConverter (const char *fileName)
	Constructor.
	GTStandardConverter ()
	Constructor.
void	load (const char *filename)
	Loads a configuration file.
void	execute (const RobotPose &robotPose, const BallModel &ballPosition, const PlayerPoseCollection &playerPoseCollection, const ObstaclesModel &obstaclesModel, const TeamMessageCollection &teamMessageCollection, PotentialfieldResult &result)
	Calls the potential fields with data from the world model and returns an action.
void	execute (const RobotPose &robotPose, const BallModel &ballPosition, const PlayerPoseCollection &playerPoseCollection, const ObstaclesModel &obstaclesModel, const TeamMessageCollection &teamMessageCollection, const Pose2D &specialDestination1, const Pose2D &specialDestination2, const int &numberOfSpecialDestinations, PotentialfieldResult &result)
	Calls the potential fields with data from the world model and returns an action.
void	getValueArray (const RobotPose &robotPose, const BallModel &ballPosition, const PlayerPoseCollection &playerPoseCollection, const ObstaclesModel &obstaclesModel, const TeamMessageCollection &teamMessageCollection, const std::string &fieldname, double x1, double y1, double x2, double y2, int xSteps, int ySteps, double value[], double &max)
	Computes an array of field values, used by visualization.
void	getDirectionArray (const RobotPose &robotPose, const BallModel &ballPosition, const PlayerPoseCollection &playerPoseCollection, const ObstaclesModel &obstaclesModel, const TeamMessageCollection &teamMessageCollection, const std::string &fieldname, double x1, double y1, double x2, double y2, int xSteps, int ySteps, PfVec directions[])
	Computes an array of gradient directions, used by visualization.
void	getFieldNames (std::vector< std::string > &fieldNames)
	Returns the names of all fields within the potential field composition.
Private Member Functions
void	setData (const RobotPose &robotPose, const BallModel &ballPosition, const PlayerPoseCollection &playerPoseCollection, const ObstaclesModel &obstaclesModel, const TeamMessageCollection &teamMessageCollection)
	Updates the potentialfields with data from the world model.
Private Attributes
PotentialfieldComposition	potentialfields
	An instance of the potential field implementation.
ObjectStateDescription	seenBallDesc
	Information about the ball.
ObjectStateDescription	ballDesc
	Information about the ball.
ObjectStateDescription	selfDesc
	Information about the robot, needed by some behaviors.
ObjectStateDescription	goalieDesc
	Information about the own team.
ObjectStateDescription	player2Desc
	Information about the own team.
ObjectStateDescription	player3Desc
	Information about the own team.
ObjectStateDescription	player4Desc
	Information about the own team.
ObjectStateDescription	unknownTeammate1Desc
ObjectStateDescription	unknownTeammate2Desc
ObjectStateDescription	unknownTeammate3Desc
ObjectStateDescription	unknownTeammate4Desc
ObjectStateDescription	opponent1Desc
	Information about the other team.
ObjectStateDescription	opponent2Desc
	Information about the other team.
ObjectStateDescription	opponent3Desc
	Information about the other team.
ObjectStateDescription	opponent4Desc
	Information about the other team.
ObjectStateDescription	opponent5Desc
	Information about the other team.
ObjectStateDescription	opponent6Desc
	Information about the other team.
ObjectStateDescription	destination1Desc
	Information about special destinations.
ObjectStateDescription	destination2Desc
	Information about special destinations.
ObjectStateDescription	obstacleFrontDesc
	Information about obstacles.
ObjectStateDescription	obstacleLeftDesc
	Information about obstacles.
ObjectStateDescription	obstacleRightDesc
	Information about obstacles.
ObjectStateDescription	obstacleFrontLeftDesc
	Information about obstacles.
ObjectStateDescription	obstacleFrontRightDesc
	Information about obstacles.
ObjectStateDescription	freeGoalDesc
	Information about the free part of the goal.
ObjectStateDescription	goalieLookingPositionDesc
	Position to look be looked at by goalie.
ObjectStateDescription	goaliePositionDesc
	The goalie position.
double	angleToFrontObstacle
	Angles to obstacles.
double	angleToLeftObstacle
	Angles to obstacles.
double	angleToRightObstacle
	Angles to obstacles.
double	angleToFrontLeftObstacle
	Angles to obstacles.
double	angleToFrontRightObstacle
	Angles to obstacles.
double	openingAngle
	Opening angle of an obstacle sector.

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Detailed Description

A class to use the PotentialfieldComposition inside the GT2004 architecture.

Definition at line 30 of file GTStandardConverter.h.

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Constructor & Destructor Documentation

GTStandardConverter::GTStandardConverter (  const char *  fileName  )

Constructor. Parameters: fileName  The name of a file containing a configuration for a PotentialFieldComposition. Definition at line 21 of file GTStandardConverter.cpp. References load().

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GTStandardConverter::GTStandardConverter (   )

Constructor. Definition at line 27 of file GTStandardConverter.cpp.

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Member Function Documentation

void GTStandardConverter::load (  const char *  filename  )

Loads a configuration file. Parameters: filename  The name of the file Definition at line 32 of file GTStandardConverter.cpp. References angleToFrontLeftObstacle, angleToFrontObstacle, angleToFrontRightObstacle, angleToLeftObstacle, angleToRightObstacle, ballDesc, destination1Desc, destination2Desc, freeGoalDesc, fromDegrees(), PotentialfieldComposition::getIdFromObjectStateSymbol(), goalieDesc, goalieLookingPositionDesc, goaliePositionDesc, ObjectStateDescription::isActive, PotentialfieldComposition::load(), ObjectStateDescription::objectId, ObjectStateDescription::objectName, obstacleFrontDesc, obstacleFrontLeftDesc, obstacleFrontRightDesc, obstacleLeftDesc, obstacleRightDesc, openingAngle, opponent1Desc, opponent2Desc, opponent3Desc, opponent4Desc, opponent5Desc, opponent6Desc, player2Desc, player3Desc, player4Desc, potentialfields, seenBallDesc, selfDesc, unknownTeammate1Desc, unknownTeammate2Desc, unknownTeammate3Desc, and unknownTeammate4Desc. Referenced by GT2004PotentialFieldBasicBehavior::GT2004PotentialFieldBasicBehavior(), and GTStandardConverter().

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void GTStandardConverter::execute (  const RobotPose &  robotPose, const BallModel &  ballPosition, const PlayerPoseCollection &  playerPoseCollection, const ObstaclesModel &  obstaclesModel, const TeamMessageCollection &  teamMessageCollection, PotentialfieldResult &  result )

Calls the potential fields with data from the world model and returns an action. Parameters: robotPose  The robot's pose ballPosition  The position of the ball playerPoseCollection  The positions of all other robots obstaclesModel  Other obstacles teamMessageCollection  The collection of team messages. result  Returns the result Definition at line 102 of file GTStandardConverter.cpp. Referenced by GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), and GT2004PotentialFieldBasicBehaviorGoToPose::execute().

void GTStandardConverter::execute (  const RobotPose &  robotPose, const BallModel &  ballPosition, const PlayerPoseCollection &  playerPoseCollection, const ObstaclesModel &  obstaclesModel, const TeamMessageCollection &  teamMessageCollection, const Pose2D &  specialDestination1, const Pose2D &  specialDestination2, const int &  numberOfSpecialDestinations, PotentialfieldResult &  result )

Calls the potential fields with data from the world model and returns an action. Parameters: robotPose  The robot's pose ballPosition  The position of the ball playerPoseCollection  The positions of all other robots obstaclesModel  Other obstacles teamMessageCollection  The collection of team messages. specialDestination1  A destination, e.g. for go-to-point skills specialDestination2  A second destination numberOfSpecialDestinations  The number of used special destinations 0,1 or 2 teamMessageCollection  Information from other robots result  Returns the result Definition at line 115 of file GTStandardConverter.cpp. References destination1Desc, destination2Desc, PotentialfieldComposition::execute(), ObjectStateDescription::isActive, PfPose::pos, ObjectStateDescription::pose, potentialfields, PfPose::probability, Pose2D::rotation, PfPose::rotation, setData(), PotentialfieldComposition::setObjectState(), Pose2D::translation, Vector2< double >::x, PfVec::x, Vector2< double >::y, and PfVec::y.

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void GTStandardConverter::getValueArray (  const RobotPose &  robotPose, const BallModel &  ballPosition, const PlayerPoseCollection &  playerPoseCollection, const ObstaclesModel &  obstaclesModel, const TeamMessageCollection &  teamMessageCollection, const std::string &  fieldname, double  x1, double  y1, double  x2, double  y2, int  xSteps, int  ySteps, double  value[], double &  max )

Computes an array of field values, used by visualization. Parameters: robotPose  The pose of the robot ballPosition  The position of the ball playerPoseCollection  The positions of all other robots obstaclesModel  The obstacles teamMessageCollection  The collection of team messages. fieldname  The name of the potential field x1  Minimum x-coordinate to compute y1  Minimum y-coordinate to compute x2  Maximum x-coordinate to compute y2  Maximum y-coordinate to compute xSteps  The computation steps in x-direction ySteps  The computation steps in y-direction value  An array containing all computed values, memory has to be allocated BEFORE calling the function max  Returns the maximum value teamMessageCollection  Information from other robots Definition at line 514 of file GTStandardConverter.cpp. References PotentialfieldComposition::getValueArray(), max, potentialfields, and setData().

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void GTStandardConverter::getDirectionArray (  const RobotPose &  robotPose, const BallModel &  ballPosition, const PlayerPoseCollection &  playerPoseCollection, const ObstaclesModel &  obstaclesModel, const TeamMessageCollection &  teamMessageCollection, const std::string &  fieldname, double  x1, double  y1, double  x2, double  y2, int  xSteps, int  ySteps, PfVec  directions[] )

Computes an array of gradient directions, used by visualization. Parameters: robotPose  The pose of the robot ballPosition  The position of the ball playerPoseCollection  The positions of all other robots obstaclesModel  The obstacles teamMessageCollection  The collection of team messages. fieldname  The name of the potential field x1  Minimum x-coordinate to compute y1  Minimum y-coordinate to compute x2  Maximum x-coordinate to compute y2  Maximum y-coordinate to compute xSteps  The computation steps in x-direction ySteps  The computation steps in y-direction directions  An array containing all computed gradients, memory has to be allocated BEFORE calling the function teamMessageCollection  Information from other robots Definition at line 527 of file GTStandardConverter.cpp. References PotentialfieldComposition::getDirectionArray(), potentialfields, and setData().

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void GTStandardConverter::getFieldNames (  std::vector< std::string > &  fieldNames  )

Returns the names of all fields within the potential field composition. Parameters: fieldNames  The names Definition at line 540 of file GTStandardConverter.cpp. References PotentialfieldComposition::getFieldNames(), and potentialfields.

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void GTStandardConverter::setData (  const RobotPose &  robotPose, const BallModel &  ballPosition, const PlayerPoseCollection &  playerPoseCollection, const ObstaclesModel &  obstaclesModel, const TeamMessageCollection &  teamMessageCollection )  [private]

Updates the potentialfields with data from the world model. Parameters: robotPose  The robot's pose ballPosition  The position of the ball playerPoseCollection  The positions of all other robots obstaclesModel  The obstacles teamMessageCollection  The collection of team messages. Definition at line 159 of file GTStandardConverter.cpp. References angleToFrontLeftObstacle, angleToFrontObstacle, angleToFrontRightObstacle, angleToLeftObstacle, angleToRightObstacle, ballDesc, freeGoalDesc, ObstaclesModel::getDistanceInDirection(), BallModel::getKnownPosition(), PlayerPoseCollection::getOpponentPlayerPose(), RobotPose::getPose(), PlayerPose::getPose(), SystemCall::getTimeSince(), BallModel::getTimeSinceLastKnown(), RobotPose::getValidity(), PlayerPose::getValidity(), goalieDesc, goalieLookingPositionDesc, goaliePositionDesc, ObjectStateDescription::isActive, PlayerPoseCollection::numberOfOpponentPlayers, TeamMessageCollection::numberOfTeamMessages, obstacleFrontDesc, obstacleFrontLeftDesc, obstacleFrontRightDesc, obstacleLeftDesc, obstacleRightDesc, openingAngle, opponent1Desc, opponent2Desc, opponent3Desc, opponent4Desc, opponent5Desc, opponent6Desc, player2Desc, player3Desc, player4Desc, PfPose::pos, ObjectStateDescription::pose, potentialfields, PfPose::probability, PfVec::rotate(), Pose2D::rotation, PfPose::rotation, BallModel::seen, seenBallDesc, selfDesc, PotentialfieldComposition::setObjectState(), PotentialfieldComposition::setOwnPose(), SeenBallPosition::timeWhenLastSeen, Pose2D::translation, unknownTeammate1Desc, unknownTeammate2Desc, unknownTeammate3Desc, unknownTeammate4Desc, Vector2< double >::x, PfVec::x, Vector2< double >::y, and PfVec::y. Referenced by execute(), getDirectionArray(), and getValueArray().

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Member Data Documentation

PotentialfieldComposition GTStandardConverter::potentialfields [private]

An instance of the potential field implementation. Definition at line 141 of file GTStandardConverter.h. Referenced by execute(), getDirectionArray(), getFieldNames(), getValueArray(), load(), and setData().

ObjectStateDescription GTStandardConverter::seenBallDesc [private]

Information about the ball. Definition at line 143 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::ballDesc [private]

Information about the ball. Definition at line 143 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::selfDesc [private]

Information about the robot, needed by some behaviors. Definition at line 145 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::goalieDesc [private]

Information about the own team. Definition at line 147 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::player2Desc [private]

Information about the own team. Definition at line 147 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::player3Desc [private]

Information about the own team. Definition at line 147 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::player4Desc [private]

Information about the own team. Definition at line 147 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::unknownTeammate1Desc [private]

Definition at line 148 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::unknownTeammate2Desc [private]

Definition at line 148 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::unknownTeammate3Desc [private]

Definition at line 148 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::unknownTeammate4Desc [private]

Definition at line 148 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::opponent1Desc [private]

Information about the other team. Definition at line 151 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::opponent2Desc [private]

Information about the other team. Definition at line 151 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::opponent3Desc [private]

Information about the other team. Definition at line 151 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::opponent4Desc [private]

Information about the other team. Definition at line 151 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::opponent5Desc [private]

Information about the other team. Definition at line 151 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::opponent6Desc [private]

Information about the other team. Definition at line 151 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::destination1Desc [private]

Information about special destinations. Definition at line 154 of file GTStandardConverter.h. Referenced by execute(), and load().

ObjectStateDescription GTStandardConverter::destination2Desc [private]

Information about special destinations. Definition at line 154 of file GTStandardConverter.h. Referenced by execute(), and load().

ObjectStateDescription GTStandardConverter::obstacleFrontDesc [private]

Information about obstacles. Definition at line 156 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::obstacleLeftDesc [private]

Information about obstacles. Definition at line 156 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::obstacleRightDesc [private]

Information about obstacles. Definition at line 156 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::obstacleFrontLeftDesc [private]

Information about obstacles. Definition at line 156 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::obstacleFrontRightDesc [private]

Information about obstacles. Definition at line 156 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::freeGoalDesc [private]

Information about the free part of the goal. Definition at line 159 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::goalieLookingPositionDesc [private]

Position to look be looked at by goalie. Definition at line 161 of file GTStandardConverter.h. Referenced by load(), and setData().

ObjectStateDescription GTStandardConverter::goaliePositionDesc [private]

The goalie position. Definition at line 163 of file GTStandardConverter.h. Referenced by load(), and setData().

double GTStandardConverter::angleToFrontObstacle [private]

Angles to obstacles. Definition at line 165 of file GTStandardConverter.h. Referenced by load(), and setData().

double GTStandardConverter::angleToLeftObstacle [private]

Angles to obstacles. Definition at line 165 of file GTStandardConverter.h. Referenced by load(), and setData().

double GTStandardConverter::angleToRightObstacle [private]

Angles to obstacles. Definition at line 165 of file GTStandardConverter.h. Referenced by load(), and setData().

double GTStandardConverter::angleToFrontLeftObstacle [private]

Angles to obstacles. Definition at line 165 of file GTStandardConverter.h. Referenced by load(), and setData().

double GTStandardConverter::angleToFrontRightObstacle [private]

Angles to obstacles. Definition at line 165 of file GTStandardConverter.h. Referenced by load(), and setData().

double GTStandardConverter::openingAngle [private]

Opening angle of an obstacle sector. Definition at line 168 of file GTStandardConverter.h. Referenced by load(), and setData().

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

• Tools/PotentialFields/GTStandardConverter.h
• Tools/PotentialFields/GTStandardConverter.cpp

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