Parcour Class Reference

Contains a walking parcour with all relevant data to calculate next useful MotionRequest, resulting fitness, ... More...

#include <Parcour.h>

Inheritance diagram for Parcour:

[legend]Collaboration diagram for Parcour:

[legend]List of all members.

Public Member Functions
	Parcour ()
	Constructor.
	~Parcour ()
	Destructor.
void	start ()
	start walking on the parcour: set start time, reset fitness stuff
void	update (Pose2D robotPose, Vector3< double > accel, bool blind)
	update the state of the parcour with all current data
Pose2D	getMotionRequest ()
	return a MotionRequest that is useful at the moment to follow the parcour
double	getUnifiedSpeed ()
	return something like speed in mm/s considering a useful portion of the integral errors
virtual Pose2D	getTargetPose (unsigned long targetTime)=0
Public Attributes
unsigned long	updateCount
unsigned long	startTime
unsigned long	lastTime
Pose2D	lastRobotPose
double	minX
double	maxX
double	yDiffIntegral
double	arcDiffIntegral
int	blindCount
double	zAccelIntegral

---

Detailed Description

Contains a walking parcour with all relevant data to calculate next useful MotionRequest, resulting fitness, ...

Definition at line 20 of file Parcour.h.

---

Constructor & Destructor Documentation

Parcour::Parcour (   )  [inline]

Constructor. Definition at line 24 of file Parcour.h. References arcDiffIntegral, blindCount, lastRobotPose, maxX, minX, startTime, updateCount, yDiffIntegral, and zAccelIntegral.

Parcour::~Parcour (   )  [inline]

Destructor. Definition at line 27 of file Parcour.h.

---

Member Function Documentation

void Parcour::start (   )

start walking on the parcour: set start time, reset fitness stuff Definition at line 14 of file Parcour.cpp. References arcDiffIntegral, blindCount, SystemCall::getCurrentSystemTime(), maxX, minX, startTime, updateCount, yDiffIntegral, and zAccelIntegral. Referenced by GT2004BasicBehaviorEvolveOmniParameters::execute().

Here is the call graph for this function:

void Parcour::update (  Pose2D  robotPose, Vector3< double >  accel, bool  blind )

update the state of the parcour with all current data Definition at line 27 of file Parcour.cpp. References arcDiffIntegral, blindCount, SystemCall::getCurrentSystemTime(), getTargetPose(), lastRobotPose, maxX, minX, normalize(), Pose2D::rotation, Pose2D::translation, updateCount, yDiffIntegral, Vector3< V >::z, and zAccelIntegral. Referenced by GT2004BasicBehaviorEvolveOmniParameters::execute().

Here is the call graph for this function:

Pose2D Parcour::getMotionRequest (   )

return a MotionRequest that is useful at the moment to follow the parcour Definition at line 43 of file Parcour.cpp. References getTargetPose(), lastRobotPose, Pose2D::minusDiff(), Pose2D::rotation, Pose2D::translation, and Vector2< double >::y. Referenced by GT2004BasicBehaviorEvolveOmniParameters::execute().

Here is the call graph for this function:

double Parcour::getUnifiedSpeed (   )

return something like speed in mm/s considering a useful portion of the integral errors Definition at line 61 of file Parcour.cpp. References arcDiffIntegral, blindCount, idText, maxX, minX, OUTPUT, startTime, updateCount, yDiffIntegral, and zAccelIntegral. Referenced by GT2004BasicBehaviorEvolveOmniParameters::execute().

virtual Pose2D Parcour::getTargetPose (  unsigned long  targetTime  )  [pure virtual]

Implemented in ForwardTurningParcour, and SimpleBackwardParcour. Referenced by getMotionRequest(), and update().

---

Member Data Documentation

unsigned long Parcour::updateCount

Definition at line 41 of file Parcour.h. Referenced by getUnifiedSpeed(), Parcour(), start(), and update().

unsigned long Parcour::startTime

Definition at line 46 of file Parcour.h. Referenced by getUnifiedSpeed(), Parcour(), and start().

unsigned long Parcour::lastTime

Definition at line 47 of file Parcour.h.

Pose2D Parcour::lastRobotPose

Definition at line 48 of file Parcour.h. Referenced by getMotionRequest(), Parcour(), and update().

double Parcour::minX

Definition at line 49 of file Parcour.h. Referenced by getUnifiedSpeed(), Parcour(), start(), and update().

double Parcour::maxX

Definition at line 49 of file Parcour.h. Referenced by getUnifiedSpeed(), Parcour(), start(), and update().

double Parcour::yDiffIntegral

Definition at line 50 of file Parcour.h. Referenced by getUnifiedSpeed(), Parcour(), start(), and update().

double Parcour::arcDiffIntegral

Definition at line 51 of file Parcour.h. Referenced by getUnifiedSpeed(), Parcour(), start(), and update().

int Parcour::blindCount

Definition at line 52 of file Parcour.h. Referenced by getUnifiedSpeed(), Parcour(), start(), and update().

double Parcour::zAccelIntegral

Definition at line 53 of file Parcour.h. Referenced by getUnifiedSpeed(), Parcour(), start(), and update().

---

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

• Tools/Evolution/Parcour.h
• Tools/Evolution/Parcour.cpp

---