ObstaclesSymbols Class Reference

The Xabsl2 symbols that are defined in "obstacles-symbols.xml". More...

#include <ObstaclesSymbols.h>

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[legend]List of all members.

Public Member Functions
	ObstaclesSymbols (const BehaviorControlInterfaces &interfaces)
void	registerSymbols (Xabsl2Engine &engine)
	registers the symbols at an engine
void	update ()
	updates the symbols
Input symbols
bool	getCollisionFrontLeft ()
bool	getCollisionFrontRight ()
bool	getCollisionHindLeft ()
bool	getCollisionHindRight ()
bool	getCollisionHead ()
bool	getCollisionAggregate ()
double	getConsecutiveCollisionTimeFrontLeft ()
double	getConsecutiveCollisionTimeFrontRight ()
double	getConsecutiveCollisionTimeHindLeft ()
double	getConsecutiveCollisionTimeHindRight ()
double	getConsecutiveCollisionTimeHead ()
double	getConsecutiveCollisionTimeAggregate ()
int	getCollisionSide ()
Public Attributes
bool	robotIsStuck
	Indicates if the robot is stuck (based on obstacles model).
bool	obstaclesAreClose
	Indicates that there are close obstacles.
bool	opponentsCloseToBall
	Indicates that there are opponents in the direction of the ball.

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Detailed Description

The Xabsl2 symbols that are defined in "obstacles-symbols.xml".

Author:

Max Risler

Definition at line 21 of file ObstaclesSymbols.h.

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Constructor & Destructor Documentation

ObstaclesSymbols::ObstaclesSymbols (  const BehaviorControlInterfaces &  interfaces  )

Definition at line 11 of file ObstaclesSymbols.cpp.

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Member Function Documentation

void ObstaclesSymbols::registerSymbols (  Xabsl2Engine &  engine  )

registers the symbols at an engine Definition at line 17 of file ObstaclesSymbols.cpp. References getCollisionAggregate(), getCollisionFrontLeft(), getCollisionFrontRight(), getCollisionHead(), getCollisionHindLeft(), getCollisionHindRight(), getCollisionSide(), getConsecutiveCollisionTimeAggregate(), getConsecutiveCollisionTimeFrontLeft(), getConsecutiveCollisionTimeFrontRight(), getConsecutiveCollisionTimeHead(), getConsecutiveCollisionTimeHindLeft(), getConsecutiveCollisionTimeHindRight(), obstaclesAreClose, opponentsCloseToBall, Xabsl2Symbols::registerBooleanInputSymbol(), Xabsl2Symbols::registerDecimalInputSymbol(), Xabsl2Symbols::registerEnumeratedInputSymbol(), Xabsl2Symbols::registerEnumeratedInputSymbolEnumElement(), and robotIsStuck. Referenced by GT2004BehaviorControl::registerSymbolsAndBasicBehaviors().

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void ObstaclesSymbols::update (   )

updates the symbols Definition at line 74 of file ObstaclesSymbols.cpp. References Geometry::distanceTo(), fromDegrees(), ObstaclesModel::getMinimalDistanceInRange(), ObstaclesModel::getPercentageOfLowDistanceObstaclesInRange(), RobotPose::getPose(), obstaclesAreClose, opponentsCloseToBall, pi_2, robotIsStuck, and BallModel::seen. Referenced by GT2004BehaviorControl::execute().

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bool ObstaclesSymbols::getCollisionFrontLeft (   )

A function for the symbol "self.collision-front-left" Definition at line 97 of file ObstaclesSymbols.cpp. References RobotState::getCollisionFrontLeft(). Referenced by registerSymbols().

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bool ObstaclesSymbols::getCollisionFrontRight (   )

A function for the symbol "self.collision-front-right" Definition at line 102 of file ObstaclesSymbols.cpp. References RobotState::getCollisionFrontRight(). Referenced by registerSymbols().

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bool ObstaclesSymbols::getCollisionHindLeft (   )

A function for the symbol "self.collision-hind-left" Definition at line 107 of file ObstaclesSymbols.cpp. References RobotState::getCollisionHindLeft(). Referenced by registerSymbols().

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bool ObstaclesSymbols::getCollisionHindRight (   )

A function for the symbol "self.collision-hind-right" Definition at line 112 of file ObstaclesSymbols.cpp. References RobotState::getCollisionHindRight(). Referenced by registerSymbols().

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bool ObstaclesSymbols::getCollisionHead (   )

A function for the symbol "self.collision-head" Definition at line 117 of file ObstaclesSymbols.cpp. References RobotState::getCollisionHead(). Referenced by registerSymbols().

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bool ObstaclesSymbols::getCollisionAggregate (   )

A function for the symbol "self.collision-aggregate" Definition at line 122 of file ObstaclesSymbols.cpp. References RobotState::getCollisionAggregate(). Referenced by registerSymbols().

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double ObstaclesSymbols::getConsecutiveCollisionTimeFrontLeft (   )

A function for the symbol "self.consecutive-collision-time-front-left" Definition at line 127 of file ObstaclesSymbols.cpp. References RobotState::getConsecutiveCollisionTimeFrontLeft(). Referenced by registerSymbols().

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double ObstaclesSymbols::getConsecutiveCollisionTimeFrontRight (   )

A function for the symbol "self.consecutive-collision-time-front-right" Definition at line 132 of file ObstaclesSymbols.cpp. References RobotState::getConsecutiveCollisionTimeFrontRight(). Referenced by registerSymbols().

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double ObstaclesSymbols::getConsecutiveCollisionTimeHindLeft (   )

A function for the symbol "self.consecutive-collision-time-hind-left" Definition at line 137 of file ObstaclesSymbols.cpp. References RobotState::getConsecutiveCollisionTimeHindLeft(). Referenced by registerSymbols().

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double ObstaclesSymbols::getConsecutiveCollisionTimeHindRight (   )

A function for the symbol "self.consecutive-collision-time-hind-right" Definition at line 142 of file ObstaclesSymbols.cpp. References RobotState::getConsecutiveCollisionTimeHindRight(). Referenced by registerSymbols().

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double ObstaclesSymbols::getConsecutiveCollisionTimeHead (   )

A function for the symbol "self.consecutive-collision-time-head" Definition at line 147 of file ObstaclesSymbols.cpp. References RobotState::getConsecutiveCollisionTimeHead(). Referenced by registerSymbols().

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double ObstaclesSymbols::getConsecutiveCollisionTimeAggregate (   )

A function for the symbol "self.consecutive-collision-time-aggregate" Definition at line 152 of file ObstaclesSymbols.cpp. References RobotState::getConsecutiveCollisionTimeAggregate(). Referenced by registerSymbols().

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int ObstaclesSymbols::getCollisionSide (   )

A function for the symbol "self.collision-side" Definition at line 157 of file ObstaclesSymbols.cpp. References RobotState::getCollisionSide(). Referenced by registerSymbols().

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Member Data Documentation

bool ObstaclesSymbols::robotIsStuck

Indicates if the robot is stuck (based on obstacles model). Definition at line 54 of file ObstaclesSymbols.h. Referenced by GT2004BehaviorControl::postExecute(), registerSymbols(), and update().

bool ObstaclesSymbols::obstaclesAreClose

Indicates that there are close obstacles. Definition at line 57 of file ObstaclesSymbols.h. Referenced by GT2004BehaviorControl::postExecute(), registerSymbols(), and update().

bool ObstaclesSymbols::opponentsCloseToBall

Indicates that there are opponents in the direction of the ball. Definition at line 60 of file ObstaclesSymbols.h. Referenced by registerSymbols(), and update().

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

• Modules/BehaviorControl/CommonXabsl2Symbols/ObstaclesSymbols.h
• Modules/BehaviorControl/CommonXabsl2Symbols/ObstaclesSymbols.cpp

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