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# Tools/Debugging/DebugDrawings.h File Reference

Macros for drawing. More...

`#include "Tools/Debugging/Debugging.h"`
`#include "Tools/Debugging/DebugKeyTable.h"`
`#include "DebugDrawings2.h"`

Include dependency graph for DebugDrawings.h:

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Go to the source code of this file.

## Classes
class | Drawings
| This class includes all enumeration types and methods that are necessary to transmit messages for debug drawings. More...
## Defines
#define | CIRCLE(id, center_x, center_y, radius, penWidth, penStyle, penColor)
| A macro that sends a circle.
#define | DOT(id, x, y, penColor, fillColor)
| A macro that sends a dot (a quadratic box with a border).
#define | MID_DOT(id, x, y, penColor, fillColor)
| A macro that sends a midsize dot.
#define | LARGE_DOT(id, x, y, penColor, fillColor)
| A macro that sends a dot (a quadratic box with a border).
#define | LINE(id, x1, y1, x2, y2, penWidth, penStyle, penColor)
| A macro that sends a line.
#define | COLORED_LINE(id, x1, y1, x2, y2, penWidth, penStyle, penColorR, penColorG, penColorB)
#define | CROSS(id, x, y, size, penWidth, penStyle, penColor)
#define | ARROW(id, x1, y1, x2, y2, penWidth, penStyle, penColor)
| A macro that sends an arrow.
#define | POSE_2D_SAMPLE(id, p, color)
| A macro that sends an arrow for a pose.
#define | OCTANGLE(id, x1, y1, x2, y2, x3, y3, x4, y4, x5, y5, x6, y6, x7, y7, x8, y8, color, fill)
| A macro that sends an octangle.
#define | QUADRANGLE(id, x1, y1, x2, y2, x3, y3, x4, y4, penWidth, penStyle, penColor)
| A macro that sends an quadrangle.
#define | RECTANGLE(id, x1, y1, x2, y2, penWidth, penStyle, penColor)
| A macro that sends an rectangle.
#define | COMPLEX_DRAWING(id, expression)
| Complex drawings should be encapsuled by this macro.
#define | DEBUG_DRAWING_FINISHED(id) INFO(send_##id##_drawing, idDebugDrawingFinished, bin, (char)Drawings::id << (char)Drawings::getTypeOfDrawing(Drawings::id) );
| Indicates that all elements of the specified drawing are drawn.

## Detailed Description

Macros for drawing.

Author:
  Matthias Jüngel

Definition in file DebugDrawings.h.

## Define Documentation

#define CIRCLE | ( | id,
|  | center_x,
|  | center_y,
|  | radius,
|  | penWidth,
|  | penStyle,
|  | penColor |  | ) |

| Value:
    INFO(send_##id##_drawing, idDebugDrawing2, bin, \
      (char)Drawings::circle << \
      (char)Drawings::id << \
      (char)Drawings::getTypeOfDrawing(Drawings::id) << \
      (int)(center_x) << (int)(center_y) << (int)(radius) << (char)(penWidth) << \
      (char)(penStyle) << (char)(penColor) \
      );
  A macro that sends a circle. Parameters:
  id | A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
  center_x | The x coordinate of the center of the circle
  center_y | The y coordinate of the center of the circle
  radius | The radius of the circle
  penWidth | The width of the arc of the circle
  penStyle | The pen style of the arc of the circle (Drawings::PenStyle)
  penColor | The color of the arc of the circle (Drawings::Color)
Definition at line 365 of file DebugDrawings.h. Referenced by VLCBallSpecialist::addBallPercept(), GT2005BallSpecialist::addBallPercept(), VLCRobotSpecialist::addCandidate(), GT2005RobotSpecialist::addCandidate(), VLCLineFinder_DeterministicApproach::addCrossingsPercept(), GT2005LineFinder_DeterministicApproach::addCrossingsPercept(), VLCRobotSpecialist::addPercept(), GT2005RobotSpecialist::addPercept(), SlamSelfLocator::calcPose(), GT2005StableSelfLocator::calcPose(), GT2005SelfLocator::calcPose(), GT2005HeadControl::calculateClosestLandmark(), GT2005CenterCircleFinder::checkCircleMidpoint(), GT2005CenterCircleFinder::checkCircleMidpoint2(), VLCRobotSpecialist::clusterCandidates(), GT2005RobotSpecialist::clusterCandidates(), CircleCalculation::createCircle(), VLCRobotSpecialist::dbg_PrintGreenchanges(), GT2005RobotSpecialist::dbg_PrintGreenchanges(), GT2005PlayerSpecialist::detectBlueRobots(), GT2005PlayerSpecialist::detectRedRobots(), VLCCenterCircleFinder::determineCirclePoint(), GT2005CenterCircleFinder::determineCirclePoint(), GT2005TeamBallLocator::draw(), SlamSelfLocator::draw(), GT2005StableSelfLocator::draw(), SlamFlagLocator::draw(), GT2005BallLocator::draw(), GT2005TeamBallLocator::drawParticle(), GT2005BallLocator::drawParticle(), BallState::drawPosition(), BarCodeReader::execute(), SlamBeaconDetector::execute(), GT2005BasicBehaviorDirectedScanForLandmarks::execute(), GT2005BasicBehaviorGoaliePosition::execute(), VLCRobotSpecialist::findNearestFootPoint(), GT2005RobotSpecialist::findNearestFootPoint(), SlamBeaconDetector::findSpecial(), VLCRobotSpecialist::generatePercept(), GT2005RobotSpecialist::generatePercept(), Circle::getType(), VLCLineFinder_DeterministicApproach::handleCenterCircle(), GT2005LineFinder_DeterministicApproach::handleCenterCircle(), intersectGeometricObjects(), SlamSelfLocator::lineObservationUpdate(), GT2005StableSelfLocator::lineObservationUpdate(), CircleCalculation::paintBallPoints(), GT2005CenterCircleFinder::scan(), KickSelectionTable::searchKickInNeighbourhood(), SlamSelfLocator::updateByCrossing(), GT2005StableSelfLocator::updateByCrossing(), and SlamSelfLocator::updateByEstimatedDirection().

#define DOT | ( | id,
|  | x,
|  | y,
|  | penColor,
|  | fillColor |  | ) |

| Value:
    INFO(send_##id##_drawing, idDebugDrawing2, bin, \
      (char)Drawings::dot << \
      (char)Drawings::id << \
      (char)Drawings::getTypeOfDrawing(Drawings::id) << \
      (int)(x) << (int)(y) << (char)(penColor) << (char)(fillColor) \
      );
  A macro that sends a dot (a quadratic box with a border). Parameters:
  id | A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
  x | The x coordinate of the center of the box
  y | The y coordinate of the center of the box
  penColor | The color of the border of the dot (Drawings::Color)
  fillColor | The color of the dot (Drawings::Color)
Definition at line 382 of file DebugDrawings.h. Referenced by VLCBallSpecialist::BallPointList::add(), GT2005BallSpecialist::BallPointList::add(), VLCBallSpecialist::addBallPercept(), GT2005BallSpecialist::addBallPercept(), SlamEdgeSpecialist::addCandidate(), GT2005EdgeSpecialist::addCandidate(), GT2005ObstaclesLocator::addObstaclePoint(), GT2005ObstaclesLocator::addPSDPercept(), SlamBeaconDetector::analyzeBeacon(), GT2005PlayerSpecialist::detectBlueRobots(), VLCGoalRecognizer::detectEdge(), GT2005GoalRecognizer::detectEdge(), GT2005PlayerSpecialist::detectRedRobots(), VLCCenterCircleFinder::determineCirclePoint(), DoubleScanLinesNumber(), VLCImageProcessor::execute(), SlamImageProcessor::execute(), GT2005ImageProcessor::execute(), GT2005PlayerSpecialist::findBlueFootPointYAxis(), GT2005PlayerSpecialist::findRedFootPointYAxis(), VLCRobotSpecialist::generatePercept(), GT2005RobotSpecialist::generatePercept(), SlamEdgeSpecialist::getEdgesPercept(), GT2005EdgeSpecialist::getEdgesPercept(), SlamImageProcessor::scan(), VLCGoalRecognizer::scanCrossBar(), GT2005GoalRecognizer::scanCrossBar(), VLCBallSpecialist::scanForBallPoints(), GT2005BallSpecialist::scanForBallPoints(), VLCBeaconDetector::scanForBeaconEdges(), SlamBeaconDetector::scanForBeaconEdges(), GT2005BeaconDetector::scanForBeaconEdges(), VLCBeaconDetector::scanForBeaconPart(), SlamBeaconDetector::scanForBeaconPart(), GT2005BeaconDetector::scanForBeaconPart(), SlamGoalRecognizer::scanHorizontalForGoals(), GoalRecognizer::scanHorizontalForGoals(), SlamGoalRecognizer::scanLinesForGoals(), GoalRecognizer::scanLinesForGoals(), VLCGoalRecognizer::scanOnImageBorder(), GT2005GoalRecognizer::scanOnImageBorder(), VLCFlagSpecialist::searchFlags(), SlamFlagSpecialist::searchFlags(), and GT2005FlagSpecialist::searchFlags().

#define MID_DOT | ( | id,
|  | x,
|  | y,
|  | penColor,
|  | fillColor |  | ) |

| Value:
    INFO(send_##id##_drawing, idDebugDrawing2, bin, \
      (char)Drawings::midDot << \
      (char)Drawings::id << \
      (char)Drawings::getTypeOfDrawing(Drawings::id) << \
      (int)(x) << (int)(y) << (char)(penColor) << (char)(fillColor) \
      );
  A macro that sends a midsize dot. Parameters:
  id | A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
  x | The x coordinate of the center of the box
  y | The y coordinate of the center of the box
  penColor | The color of the border of the dot (Drawings::Color)
  fillColor | The color of the dot (Drawings::Color)
Definition at line 399 of file DebugDrawings.h.

#define LARGE_DOT | ( | id,
|  | x,
|  | y,
|  | penColor,
|  | fillColor |  | ) |

| Value:
    INFO(send_##id##_drawing, idDebugDrawing2, bin, \
      (char)Drawings::largeDot << \
      (char)Drawings::id << \
      (char)Drawings::getTypeOfDrawing(Drawings::id) << \
      (int)(x) << (int)(y) << (char)(penColor) << (char)(fillColor) \
      );
  A macro that sends a dot (a quadratic box with a border). Parameters:
  id | A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
  x | The x coordinate of the center of the box
  y | The y coordinate of the center of the box
  penColor | The color of the border of the dot (Drawings::Color)
  fillColor | The color of the dot (Drawings::Color)
Definition at line 415 of file DebugDrawings.h. Referenced by AStarSearch< PotentialfieldAStarNode, PotentialfieldAStarParameterSet, double >::draw().

#define LINE | ( | id,
|  | x1,
|  | y1,
|  | x2,
|  | y2,
|  | penWidth,
|  | penStyle,
|  | penColor |  | ) |

| Value:
    INFO(send_##id##_drawing, idDebugDrawing2, bin, \
      (char)Drawings::line << \
      (char)Drawings::id << \
      (char)Drawings::getTypeOfDrawing(Drawings::id) << \
      (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (char)(penWidth) << (char)(penStyle) << (char)(penColor) \
      );
  A macro that sends a line. Parameters:
  id | A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
  x1 | The x coordinate of the starting point.
  y1 | The y coordinate of the starting point.
  x2 | The x coordinate of the end point.
  y2 | The y coordinate of the end point.
  penWidth | The width of the line
  penStyle | The pen style of the line (Drawings::PenStyle)
  penColor | The color of the line (Drawings::Color)
Definition at line 434 of file DebugDrawings.h. Referenced by VLCRobotSpecialist::addCandidate(), GT2005RobotSpecialist::addCandidate(), VLCLineFinder_DeterministicApproach::addCrossingsPercept(), GT2005LineFinder_DeterministicApproach::addCrossingsPercept(), VLCRobotSpecialist::addPercept(), GT2005RobotSpecialist::addPercept(), GT2005HeadControl::calculateClosestLandmark(), VLCRobotSpecialist::clusterCandidates(), GT2005RobotSpecialist::clusterCandidates(), VLCBeaconDetector::clusterPinkBeaconParts(), SlamBeaconDetector::clusterPinkBeaconParts(), GT2005BeaconDetector::clusterPinkBeaconParts(), SlamGoalRecognizer::ColoredPartsCheck::determineLargePart(), GoalRecognizer::ColoredPartsCheck::determineLargePart(), DoubleScanLinesNumber(), VLCLineFinder_DeterministicApproach::doVerificationScan(), GT2005LineFinder_DeterministicApproach::doVerificationScan(), VLCLineFinder_DeterministicApproach::doVerificationScanForCircle(), GT2005LineFinder_DeterministicApproach::doVerificationScanForCircle(), AStarSearch< PotentialfieldAStarNode, PotentialfieldAStarParameterSet, double >::draw(), GT2005TeamBallLocator::draw(), SlamSelfLocator::draw(), ObservationTable< 320, 240, 25, 25 >::draw(), GT2005StableSelfLocator::draw(), SlamFlagLocator::draw(), AngleSymbols::drawAngleShownByLeds(), BallState::drawPositionGaussian(), VLCBeaconDetector::execute(), SlamBeaconDetector::execute(), GT2005PlayerSpecialist::execute(), GT2005BeaconDetector::execute(), GT2005BasicBehaviorDirectedScanForObstacles::execute(), SLBenchmark::execute(), GT2005BasicBehaviorGoaliePosition::execute(), GT2005PlayerSpecialist::findBlueFootPointYAxis(), VLCBallSpecialist::findEndOfBall(), GT2005BallSpecialist::findEndOfBall(), VLCLineFinder_DeterministicApproach::findLineFragments(), GT2005LineFinder_DeterministicApproach::findLineFragments(), VLCLineFinder_DeterministicApproach::findLines(), GT2005LineFinder_DeterministicApproach::findLines(), VLCRobotSpecialist::findNearestFootPoint(), GT2005RobotSpecialist::findNearestFootPoint(), GT2005PlayerSpecialist::findRedFootPointYAxis(), SlamBeaconDetector::findSpecial(), VLCRobotSpecialist::generateColorspace(), GT2005RobotSpecialist::generateColorspace(), GPS::GeneralParticleSystem< Particle >::getCluster(), ObstaclesModel::getDistanceInCorridor(), SlamEdgeSpecialist::getEdgesPercept(), GT2005EdgeSpecialist::getEdgesPercept(), Line::getType(), VLCLineFinder_DeterministicApproach::handleCenterCircle(), GT2005LineFinder_DeterministicApproach::handleCenterCircle(), intersectGeometricObjects(), SlamSelfLocator::lineObservationUpdate(), GT2005StableSelfLocator::lineObservationUpdate(), VLCImageProcessor::plot(), SlamImageProcessor::plot(), GT2005ImageProcessor::plot(), VLCRobotSpecialist::scan(), VLCImageProcessor::scan(), SlamImageProcessor::scan(), GT2005RobotSpecialist::scan(), GT2005ImageProcessor::scan(), GT2005CenterCircleFinder::scan(), VLCBeaconDetector::scanForPink(), SlamBeaconDetector::scanForPink(), GT2005BeaconDetector::scanForPink(), SlamGoalRecognizer::scanHorizontalForGoals(), GoalRecognizer::scanHorizontalForGoals(), SlamGoalRecognizer::scanLinesForGoals(), GoalRecognizer::scanLinesForGoals(), VLCGoalRecognizer::scanOnImageBorder(), GT2005GoalRecognizer::scanOnImageBorder(), GuideDogRobotSpecialist::scanParallelToHorizon(), VLCImageProcessor::scanRows(), SlamImageProcessor::scanRows(), and GT2005ImageProcessor::scanRows().

#define COLORED_LINE | ( | id,
|  | x1,
|  | y1,
|  | x2,
|  | y2,
|  | penWidth,
|  | penStyle,
|  | penColorR,
|  | penColorG,
|  | penColorB |  | ) |

| Value:
    INFO(send_##id##_drawing, idDebugDrawing2, bin, \
      (char)Drawings::coloredLine << \
      (char)Drawings::id << \
      (char)Drawings::getTypeOfDrawing(Drawings::id) << \
      (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (char)(penWidth) << (char)(penStyle) << (char)(penColorR) << (char)(penColorG) << (char)(penColorB)\
      );
Definition at line 442 of file DebugDrawings.h.

#define CROSS | ( | id,
|  | x,
|  | y,
|  | size,
|  | penWidth,
|  | penStyle,
|  | penColor |  | ) |

| Value:
    LINE(id, x+size, y+size, x-size,y-size, penWidth, penStyle, penColor);\
      LINE(id, x+size, y-size, x-size,y+size, penWidth, penStyle, penColor);
Definition at line 450 of file DebugDrawings.h. Referenced by KickSelectionTable::searchKickInNeighbourhood().

#define ARROW | ( | id,
|  | x1,
|  | y1,
|  | x2,
|  | y2,
|  | penWidth,
|  | penStyle,
|  | penColor |  | ) |

| Value:
    INFO(send_##id##_drawing, idDebugDrawing2, bin, \
      (char)Drawings::arrow << \
      (char)Drawings::id << \
      (char)Drawings::getTypeOfDrawing(Drawings::id) << \
      (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (char)(penWidth) << (char)(penStyle) << (char)(penColor) \
      );
  A macro that sends an arrow. Parameters:
  id | A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
  x1 | The x coordinate of the starting point.
  y1 | The y coordinate of the starting point.
  x2 | The x coordinate of the end point.
  y2 | The y coordinate of the end point.
  penWidth | The width of the line
  penStyle | The pen style of the line (Drawings::PenStyle)
  penColor | The color of the line (Drawings::Color)
Definition at line 468 of file DebugDrawings.h. Referenced by VLCRobotSpecialist::addPercept(), GT2005RobotSpecialist::addPercept(), VLCImageProcessor::calcEdgeAngle(), SlamImageProcessor::calcEdgeAngle(), GT2005ImageProcessor::calcEdgeAngle(), GT2005BallLocator::draw(), GT2005BallLocator::drawParticle(), BallState::drawSpeed(), VLCImageProcessor::execute(), SlamBeaconDetector::execute(), GT2005ImageProcessor::execute(), SLBenchmark::execute(), GT2005BasicBehaviorGoaliePosition::execute(), SlamEdgeSpecialist::getEdgesPercept(), GT2005EdgeSpecialist::getEdgesPercept(), and SLBenchmark::GoToNextTarget().

#define POSE_2D_SAMPLE | ( | id,
|  | p,
|  | color |  | ) |

| Value:
    Pose2D current = p; current += Pose2D(-100,0); \
      LINE(id, int(current.translation.x),int(current.translation.y), int(p.translation.x), int(p.translation.y), \
      1, Drawings::ps_solid, color); \
      current = p; current += Pose2D(-40,-40); \
      LINE(id, int(current.translation.x), int(current.translation.y), int(p.translation.x), int(p.translation.y), \
      1, Drawings::ps_solid, color); \
      current = p; current += Pose2D(-40,40); \
      LINE(id, int(current.translation.x),int(current.translation.y),int(p.translation.x), int(p.translation.y), \
      1, Drawings::ps_solid, color); \
  A macro that sends an arrow for a pose. Parameters:
  id | A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
  p | A Pose2D describing the arrow
  color | The color of the line arrow (Drawings::Color)
Definition at line 483 of file DebugDrawings.h.

#define OCTANGLE | ( | id,
|  | x1,
|  | y1,
|  | x2,
|  | y2,
|  | x3,
|  | y3,
|  | x4,
|  | y4,
|  | x5,
|  | y5,
|  | x6,
|  | y6,
|  | x7,
|  | y7,
|  | x8,
|  | y8,
|  | color,
|  | fill |  | ) |

| Value:
    INFO(send_##id##_drawing, idDebugDrawing2, bin, \
      (char)Drawings::octangle << \
      (char)Drawings::id << \
      (char)Drawings::getTypeOfDrawing(Drawings::id) << \
      (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (int)(x3) << (int)(y3) << (int)(x4) << (int)(y4) << \
      (int)(x5) << (int)(y5) << (int)(x6) << (int)(y6) << (int)(x7) << (int)(y7) << (int)(x8) << (int)(y8) << \
      (char)ColorClasses::colorClassToDrawingsColor(color) << (char)fill \
      );
  A macro that sends an octangle. Parameters:
  id | A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
  x1,y1,x2,y2,x3,y3,x4,y4,x5,y5,x6,y6,x7,y7,x8,y8 | The coordinates of the 8 octagon vertices
  color | The color of the octangle
  fill | A boolean indicating if the octangle is filled
Definition at line 501 of file DebugDrawings.h.

#define QUADRANGLE | ( | id,
|  | x1,
|  | y1,
|  | x2,
|  | y2,
|  | x3,
|  | y3,
|  | x4,
|  | y4,
|  | penWidth,
|  | penStyle,
|  | penColor |  | ) |

| Value:
    LINE(id, x1, y1, x2, y2, penWidth, penStyle, penColor); \
      LINE(id, x2, y2, x3, y3, penWidth, penStyle, penColor); \
      LINE(id, x3, y3, x4, y4, penWidth, penStyle, penColor); \
      LINE(id, x4, y4, x1, y1, penWidth, penStyle, penColor);
  A macro that sends an quadrangle. Parameters:
  x1,y1,x2,y2,x3,y3,x4,y4 | The coordinates of the 4 quadrangle vertices
  id | A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
  penWidth | The line width of the quadrangle
  penStyle | The line style, e.g. dotted
  penColor | The color of the quadrangle
Definition at line 519 of file DebugDrawings.h.

#define RECTANGLE | ( | id,
|  | x1,
|  | y1,
|  | x2,
|  | y2,
|  | penWidth,
|  | penStyle,
|  | penColor |  | ) |

| Value:
    LINE(id, x1, y1, x1, y2, penWidth, penStyle, penColor); \
      LINE(id, x1, y2, x2, y2, penWidth, penStyle, penColor); \
      LINE(id, x2, y2, x2, y1, penWidth, penStyle, penColor); \
      LINE(id, x2, y1, x1, y1, penWidth, penStyle, penColor);
  A macro that sends an rectangle. Parameters:
  x1,y1,x2,y2 | The coordinates of 2 opposite corners
  id | A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
  penWidth | The line width of the rectangle
  penStyle | The line style, e.g. dotted
  penColor | The color of the quadrangle
Definition at line 533 of file DebugDrawings.h. Referenced by VLCRobotSpecialist::addCandidate(), GT2005RobotSpecialist::addCandidate(), VLCRobotSpecialist::addPercept(), and GT2005RobotSpecialist::addPercept().

#define COMPLEX_DRAWING | ( | id,
|  | expression |  | ) |

| Value:
    if (getDebugKeyTable().isActive(DebugKeyTable::send_##id##_drawing)) {\
      expression;\
      }
Complex drawings should be encapsuled by this macro. Definition at line 542 of file DebugDrawings.h. Referenced by GT2005LineFinder_DeterministicApproach::addCrossingsPercept(), SlamSelfLocator::lineObservationUpdate(), GT2005StableSelfLocator::lineObservationUpdate(), CircleCalculation::paintBallPoints(), SlamSelfLocator::resample(), GT2005StableSelfLocator::resample(), SlamGoalRecognizer::scanLinesForGoals(), AStarSearch< PotentialfieldAStarNode, PotentialfieldAStarParameterSet, double >::search(), SlamSelfLocator::updateByFlag(), and GT2005StableSelfLocator::updateByFlag().

#define DEBUG_DRAWING_FINISHED | ( | id |  | ) | INFO(send_##id##_drawing, idDebugDrawingFinished, bin, (char)Drawings::id << (char)Drawings::getTypeOfDrawing(Drawings::id) );

  | Indicates that all elements of the specified drawing are drawn. Parameters:
  id | A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
Definition at line 551 of file DebugDrawings.h. Referenced by GT2005TeamBallLocator::draw(), GT2005BallLocator::draw(), AngleSymbols::drawAngleShownByLeds(), BarCodeReader::execute(), SlamSelfLocator::execute(), GT2005StableSelfLocator::execute(), GT2004SelfLocator::execute(), GT2005ObstaclesLocator::execute(), VLCLineFinder_DeterministicApproach::execute(), VLCImageProcessor::execute(), SlamImageProcessor::execute(), SlamBorderFinder::execute(), GT2005LineFinder_DeterministicApproach::execute(), GT2005ImageProcessor::execute(), GT2005BasicBehaviorDirectedScanForObstacles::execute(), GT2005BasicBehaviorDirectedScanForLandmarks::execute(), GT2005BasicBehaviorGoaliePosition::execute(), VLCGoalRecognizer::notifyAboutFinish(), GT2005GoalRecognizer::notifyAboutFinish(), Motionfield::pathPlanningStillNeeded(), AStarSearch< PotentialfieldAStarNode, PotentialfieldAStarParameterSet, double >::search(), VLCBallSpecialist::searchBall(), GT2005BallSpecialist::searchBall(), and KickSelectionTable::searchKickInNeighbourhood().