ObstacleAvoiderOnGreenField Class Reference

Class that generates Motion requests in a fashion similar to the Braitenberg but also uses the PSD sensor to not run into things. More...

#include <ObstacleAvoiderOnGreenField.h>

Inheritance diagram for ObstacleAvoiderOnGreenField:

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[legend]List of all members.

Public Member Functions
	ObstacleAvoiderOnGreenField (const SensorBehaviorControlInterfaces &interfaces)
	Constructor.
void	init ()
	some init's that are only done when the module is called for the first time (or it it hasn't been called for a while) such as setting the headcontrol-mode
virtual void	execute ()
	the "main" module where all the magic is happening
void	calibrate ()
	calibrate the psd (while standing still) to the minimum value it measures
virtual bool	handleMessage (InMessage &message)
	currently no debug messages are handled
Private Member Functions
	DECLARE_DEBUG_IMAGE (classificationY)
Private Attributes
double	maxSpeedX
double	distanceToGround
double	distanceOffset
double	distanceControlInterval
PIDsmoothedValue	speedX
PIDsmoothedValue	speedY
PIDsmoothedValue	speedPhi
int	gridSize
int	greenOrLight
unsigned long	timeOfLastExecute
unsigned long	timeToCalibrate
ColorTable64	localColTable
bool	localColTableInitialized

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Detailed Description

Class that generates Motion requests in a fashion similar to the Braitenberg but also uses the PSD sensor to not run into things.

Definition at line 21 of file ObstacleAvoiderOnGreenField.h.

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Constructor & Destructor Documentation

ObstacleAvoiderOnGreenField::ObstacleAvoiderOnGreenField (  const SensorBehaviorControlInterfaces &  interfaces  )

Constructor. Parameters: interfaces  The paramters of the SensorBehaviorControl module. Definition at line 13 of file ObstacleAvoiderOnGreenField.cpp. References pi, and pi_4.

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Member Function Documentation

void ObstacleAvoiderOnGreenField::init (   )

some init's that are only done when the module is called for the first time (or it it hasn't been called for a while) such as setting the headcontrol-mode Definition at line 28 of file ObstacleAvoiderOnGreenField.cpp.

void ObstacleAvoiderOnGreenField::execute (   )  [virtual]

the "main" module where all the magic is happening calc how much green is in both halves if robot is moving forward, turn where there's more green if robot is too close to something, stick to the direction it last turned to until obstacle is no longer in front of robot Implements Module. Definition at line 30 of file ObstacleAvoiderOnGreenField.cpp. References PIDsmoothedValue::approximateVal(), Image::cameraInfo, SensorData::data, distanceControlInterval, distanceOffset, distanceToGround, Image::getClassifiedColor(), SystemCall::getCurrentSystemTime(), SystemCall::getTimeSince(), PIDsmoothedValue::getVal(), gridSize, HeadControlMode::headControlMode, idText, SensorDataBuffer::lastFrame(), localColTable, localColTableInitialized, maxSpeedX, MotionRequest::motionType, OUTPUT, pi, LEDRequest::redBottomLEDs, LEDRequest::redTopLEDs, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Pose2D::rotation, Image::setColorTable(), SoundRequest::soundID, speedPhi, MotionRequest::tailRequest, TailRequest::tailRequestID, timeToCalibrate, Pose2D::translation, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< double >::x, and Vector2< double >::y.

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void ObstacleAvoiderOnGreenField::calibrate (   )

calibrate the psd (while standing still) to the minimum value it measures Definition at line 208 of file ObstacleAvoiderOnGreenField.cpp. References ColorTable64::addColorClass(), Image::cameraInfo, ColorTable64::clear(), gridSize, Image::image, localColTable, localColTableInitialized, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

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

currently no debug messages are handled Reimplemented from Module. Definition at line 229 of file ObstacleAvoiderOnGreenField.cpp. References InMessage::bin, GenericDebugData::data, distanceControlInterval, distanceOffset, distanceToGround, InMessage::getMessageID(), GenericDebugData::id, idGenericDebugData, idText, OUTPUT, PIDsmoothedValue::setWeightD(), PIDsmoothedValue::setWeightI(), PIDsmoothedValue::setWeightP(), and speedPhi.

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ObstacleAvoiderOnGreenField::DECLARE_DEBUG_IMAGE (  classificationY   )  [private]

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Member Data Documentation

double ObstacleAvoiderOnGreenField::maxSpeedX [private]

Definition at line 44 of file ObstacleAvoiderOnGreenField.h. Referenced by execute().

double ObstacleAvoiderOnGreenField::distanceToGround [private]

Definition at line 44 of file ObstacleAvoiderOnGreenField.h. Referenced by execute(), and handleMessage().

double ObstacleAvoiderOnGreenField::distanceOffset [private]

Definition at line 44 of file ObstacleAvoiderOnGreenField.h. Referenced by execute(), and handleMessage().

double ObstacleAvoiderOnGreenField::distanceControlInterval [private]

Definition at line 44 of file ObstacleAvoiderOnGreenField.h. Referenced by execute(), and handleMessage().

PIDsmoothedValue ObstacleAvoiderOnGreenField::speedX [private]

Definition at line 45 of file ObstacleAvoiderOnGreenField.h.

PIDsmoothedValue ObstacleAvoiderOnGreenField::speedY [private]

Definition at line 45 of file ObstacleAvoiderOnGreenField.h.

PIDsmoothedValue ObstacleAvoiderOnGreenField::speedPhi [private]

Definition at line 45 of file ObstacleAvoiderOnGreenField.h. Referenced by execute(), and handleMessage().

int ObstacleAvoiderOnGreenField::gridSize [private]

Definition at line 46 of file ObstacleAvoiderOnGreenField.h. Referenced by calibrate(), and execute().

int ObstacleAvoiderOnGreenField::greenOrLight [private]

Definition at line 46 of file ObstacleAvoiderOnGreenField.h.

unsigned long ObstacleAvoiderOnGreenField::timeOfLastExecute [private]

Definition at line 47 of file ObstacleAvoiderOnGreenField.h.

unsigned long ObstacleAvoiderOnGreenField::timeToCalibrate [private]

Definition at line 47 of file ObstacleAvoiderOnGreenField.h. Referenced by execute().

ColorTable64 ObstacleAvoiderOnGreenField::localColTable [private]

Definition at line 48 of file ObstacleAvoiderOnGreenField.h. Referenced by calibrate(), and execute().

bool ObstacleAvoiderOnGreenField::localColTableInitialized [private]

Definition at line 49 of file ObstacleAvoiderOnGreenField.h. Referenced by calibrate(), and execute().

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

• Modules/SensorBehaviorControl/ObstacleAvoiderOnGreenField.h
• Modules/SensorBehaviorControl/ObstacleAvoiderOnGreenField.cpp

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