ObstacleAvoiderOnGreenFieldERS7 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 <ObstacleAvoiderOnGreenFieldERS7.h>

Inheritance diagram for ObstacleAvoiderOnGreenFieldERS7:

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[legend]List of all members.

Public Member Functions
	ObstacleAvoiderOnGreenFieldERS7 (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 ObstacleAvoiderOnGreenFieldERS7.h.

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Constructor & Destructor Documentation

ObstacleAvoiderOnGreenFieldERS7::ObstacleAvoiderOnGreenFieldERS7 (  const SensorBehaviorControlInterfaces &  interfaces  )

Constructor. Parameters: interfaces  The paramters of the SensorBehaviorControl module. Definition at line 13 of file ObstacleAvoiderOnGreenFieldERS7.cpp. References pi, and pi_4.

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Member Function Documentation

void ObstacleAvoiderOnGreenFieldERS7::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 ObstacleAvoiderOnGreenFieldERS7.cpp.

void ObstacleAvoiderOnGreenFieldERS7::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 ObstacleAvoiderOnGreenFieldERS7.cpp. References PIDsmoothedValue::approximateVal(), Image::cameraInfo, SensorData::data, Image::getClassifiedColor(), SystemCall::getCurrentSystemTime(), SystemCall::getTimeSince(), PIDsmoothedValue::getVal(), HeadControlMode::headControlMode, SensorDataBuffer::lastFrame(), MotionRequest::motionType, pi, LEDRequest::redBottomLEDs, LEDRequest::redTopLEDs, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Pose2D::rotation, Image::setColorTable(), SoundRequest::soundID, MotionRequest::tailRequest, TailRequest::tailRequestID, Pose2D::translation, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< double >::x, and Vector2< double >::y.

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void ObstacleAvoiderOnGreenFieldERS7::calibrate (   )

calibrate the psd (while standing still) to the minimum value it measures Definition at line 215 of file ObstacleAvoiderOnGreenFieldERS7.cpp. References ColorTable64::addColorClass(), Image::cameraInfo, ColorTable64::clear(), Image::image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

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bool ObstacleAvoiderOnGreenFieldERS7::handleMessage (  InMessage &  message  )  [virtual]

currently no debug messages are handled Reimplemented from Module. Definition at line 236 of file ObstacleAvoiderOnGreenFieldERS7.cpp. References InMessage::bin, GenericDebugData::data, InMessage::getMessageID(), GenericDebugData::id, idGenericDebugData, idText, OUTPUT, PIDsmoothedValue::setWeightD(), PIDsmoothedValue::setWeightI(), and PIDsmoothedValue::setWeightP().

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ObstacleAvoiderOnGreenFieldERS7::DECLARE_DEBUG_IMAGE (  classificationY   )  [private]

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Member Data Documentation

double ObstacleAvoiderOnGreenFieldERS7::maxSpeedX [private]

Definition at line 44 of file ObstacleAvoiderOnGreenFieldERS7.h.

double ObstacleAvoiderOnGreenFieldERS7::distanceToGround [private]

Definition at line 44 of file ObstacleAvoiderOnGreenFieldERS7.h.

double ObstacleAvoiderOnGreenFieldERS7::distanceOffset [private]

Definition at line 44 of file ObstacleAvoiderOnGreenFieldERS7.h.

double ObstacleAvoiderOnGreenFieldERS7::distanceControlInterval [private]

Definition at line 44 of file ObstacleAvoiderOnGreenFieldERS7.h.

PIDsmoothedValue ObstacleAvoiderOnGreenFieldERS7::speedX [private]

Definition at line 45 of file ObstacleAvoiderOnGreenFieldERS7.h.

PIDsmoothedValue ObstacleAvoiderOnGreenFieldERS7::speedY [private]

Definition at line 45 of file ObstacleAvoiderOnGreenFieldERS7.h.

PIDsmoothedValue ObstacleAvoiderOnGreenFieldERS7::speedPhi [private]

Definition at line 45 of file ObstacleAvoiderOnGreenFieldERS7.h.

int ObstacleAvoiderOnGreenFieldERS7::gridSize [private]

Definition at line 46 of file ObstacleAvoiderOnGreenFieldERS7.h.

int ObstacleAvoiderOnGreenFieldERS7::greenOrLight [private]

Definition at line 46 of file ObstacleAvoiderOnGreenFieldERS7.h.

unsigned long ObstacleAvoiderOnGreenFieldERS7::timeOfLastExecute [private]

Definition at line 47 of file ObstacleAvoiderOnGreenFieldERS7.h.

unsigned long ObstacleAvoiderOnGreenFieldERS7::timeToCalibrate [private]

Definition at line 47 of file ObstacleAvoiderOnGreenFieldERS7.h.

ColorTable64 ObstacleAvoiderOnGreenFieldERS7::localColTable [private]

Definition at line 48 of file ObstacleAvoiderOnGreenFieldERS7.h.

bool ObstacleAvoiderOnGreenFieldERS7::localColTableInitialized [private]

Definition at line 49 of file ObstacleAvoiderOnGreenFieldERS7.h.

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

• Modules/SensorBehaviorControl/ObstacleAvoiderOnGreenFieldERS7.h
• Modules/SensorBehaviorControl/ObstacleAvoiderOnGreenFieldERS7.cpp

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