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# GT2005BasicBehaviorGoaliePosition Class Reference

A goalie positioning approach from Benjamin. More...

`#include <GT2005SimpleBasicBehaviors.h>`

Inheritance diagram for GT2005BasicBehaviorGoaliePosition:

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Collaboration diagram for GT2005BasicBehaviorGoaliePosition:

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List of all members.

## Public Member Functions
| GT2005BasicBehaviorGoaliePosition (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void | execute ()
| Executes the basic behavior.
## Protected Attributes
double | maxSpeed
double | minXTrans
double | minYTrans
double | weightPose
double | weightOdo
double | cutY
double | guardDirectToGoal
double | guardLine
Pose2D | lastRobotPose
Pose2D | lastOdometry
Pose2D | goaliePose
Pose2D | lastGoaliePose

## Detailed Description

A goalie positioning approach from Benjamin.

Definition at line 645 of file GT2005SimpleBasicBehaviors.h.

## Constructor & Destructor Documentation

GT2005BasicBehaviorGoaliePosition::GT2005BasicBehaviorGoaliePosition | ( | BehaviorControlInterfaces & | interfaces,
|  | Xabsl2ErrorHandler & | errorHandler
| ) | `[inline]`

| Definition at line 653 of file GT2005SimpleBasicBehaviors.h. References cutY, guardDirectToGoal, guardLine, minXTrans, minYTrans, Xabsl2BasicBehavior::registerParameter(), weightOdo, and weightPose.

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## Member Function Documentation

void GT2005BasicBehaviorGoaliePosition::execute | ( |  | ) | `[virtual]`

| Executes the basic behavior. Implements Xabsl2BasicBehavior. Definition at line 312 of file GT2005SimpleBasicBehaviors.cpp. References Vector2< double >::abs(), Geometry::angleTo(), ARROW, CIRCLE, cutY, DEBUG_DRAWING_FINISHED, BallModel::getKnownPosition(), goaliePose, guardDirectToGoal, guardLine, lastGoaliePose, LINE, max, min, minXTrans, minYTrans, MotionRequest::motionType, Vector2< double >::normalize(), Pose2D::rotation, Pose2D::translation, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, weightOdo, weightPose, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y.

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## Member Data Documentation

double GT2005BasicBehaviorGoaliePosition::maxSpeed`[protected]`

| Definition at line 673 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoaliePosition::minXTrans`[protected]`

| Definition at line 674 of file GT2005SimpleBasicBehaviors.h. Referenced by execute(), and GT2005BasicBehaviorGoaliePosition().

double GT2005BasicBehaviorGoaliePosition::minYTrans`[protected]`

| Definition at line 675 of file GT2005SimpleBasicBehaviors.h. Referenced by execute(), and GT2005BasicBehaviorGoaliePosition().

double GT2005BasicBehaviorGoaliePosition::weightPose`[protected]`

| Definition at line 676 of file GT2005SimpleBasicBehaviors.h. Referenced by execute(), and GT2005BasicBehaviorGoaliePosition().

double GT2005BasicBehaviorGoaliePosition::weightOdo`[protected]`

| Definition at line 677 of file GT2005SimpleBasicBehaviors.h. Referenced by execute(), and GT2005BasicBehaviorGoaliePosition().

double GT2005BasicBehaviorGoaliePosition::cutY`[protected]`

| Definition at line 678 of file GT2005SimpleBasicBehaviors.h. Referenced by execute(), and GT2005BasicBehaviorGoaliePosition().

double GT2005BasicBehaviorGoaliePosition::guardDirectToGoal`[protected]`

| Definition at line 679 of file GT2005SimpleBasicBehaviors.h. Referenced by execute(), and GT2005BasicBehaviorGoaliePosition().

double GT2005BasicBehaviorGoaliePosition::guardLine`[protected]`

| Definition at line 680 of file GT2005SimpleBasicBehaviors.h. Referenced by execute(), and GT2005BasicBehaviorGoaliePosition().

Pose2D GT2005BasicBehaviorGoaliePosition::lastRobotPose`[protected]`

| Definition at line 682 of file GT2005SimpleBasicBehaviors.h.

Pose2D GT2005BasicBehaviorGoaliePosition::lastOdometry`[protected]`

| Definition at line 683 of file GT2005SimpleBasicBehaviors.h.

Pose2D GT2005BasicBehaviorGoaliePosition::goaliePose`[protected]`

| Definition at line 684 of file GT2005SimpleBasicBehaviors.h. Referenced by execute().

Pose2D GT2005BasicBehaviorGoaliePosition::lastGoaliePose`[protected]`

| Definition at line 685 of file GT2005SimpleBasicBehaviors.h. Referenced by execute().

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

- Modules/BehaviorControl/GT2005BehaviorControl/GT2005BasicBehaviors/GT2005SimpleBasicBehaviors.h
- Modules/BehaviorControl/GT2005BehaviorControl/GT2005BasicBehaviors/GT2005SimpleBasicBehaviors.cpp