Modules/BehaviorControl/GT2005BehaviorControl/GT2005BasicBehaviors/GT2005SimpleBasicBehaviors.h

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/** 
* @file GT2005SimpleBasicBehaviors.h
*
* Declaration of basic behaviors defined in simple-basic-behaviors.xml.
*
* @author Uwe Düffert
* @author Jan Hoffmann
* @author Matthias Jüngel
* @author Martin Lötzsch
* @author Max Risler
*/

#ifndef __GT2005SimpleBasicBehaviors_h_
#define __GT2005SimpleBasicBehaviors_h_

#include "../../BehaviorControl.h"
#include "Tools/Xabsl2/Xabsl2Engine/Xabsl2Engine.h"
#include "Tools/Actorics/WalkAccelerationRestrictor.h"
#include "Tools/Math/PIDsmoothedValue.h"



/**
* A Basic Behavior for going to the ball
* @author Matthias Jüngel
* @author Martin Lötzsch
* @author Jan Hoffmann
*/
class GT2005BasicBehaviorNewGoToBall : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorNewGoToBall(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("new-go-to-ball", errorHandler),
    BehaviorControlInterfaces(interfaces),
    accelerationRestrictor(motionRequest)
  {
    registerParameter("new-go-to-ball.distance",distanceAtEnd);
    registerParameter("new-go-to-ball.max-speed", maxSpeed);
    registerParameter("new-go-to-ball.max-speed.y", maxSpeedY);
    registerParameter("new-go-to-ball.max-turn-speed", maxTurnSpeed);
    registerParameter("new-go-to-ball.angle-factor", angleFactor);
    registerParameter("new-go-to-ball.y-offset", yOffset);
    registerParameter("new-go-to-ball.walk-type", walkType);
    registerParameter("new-go-to-ball.slow-down-distance", slowDownDistance);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
private:
  /** parameter "go-to-ball.distance" */
  double distanceAtEnd;
  
  /** parameter "go-to-ball.max-speed" */
  double maxSpeed;
  
  /** parameter "go-to-ball.max-speed.y" */
  double maxSpeedY;
  
  /** Restricts the walk acceleration to maximum values */
  WalkAccelerationRestrictor accelerationRestrictor;
  
  /** parameter "go-to-ball.angle-factor" */
  double angleFactor;
    
  /** parameter "go-to-ball.slow-down-distance" */
  double slowDownDistance;

  /** parameter "go-to-ball.y-offset" */
  double yOffset;

  /** parameter "walk-type" */
  double walkType;
  
  /** parameter "max-turn-speed" */
  double maxTurnSpeed;
};

/**
* A Basic Behavior for going to the ball
* @author Martin Lötzsch
* @author Matthias Jüngel
* @author Jan Hoffmann
*/
class GT2005BasicBehaviorGoToBall : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorGoToBall(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("go-to-ball", errorHandler),
    BehaviorControlInterfaces(interfaces),
    accelerationRestrictor(motionRequest)
  {
    registerParameter("go-to-ball.distance",distanceAtEnd);
    registerParameter("go-to-ball.max-speed", maxSpeed);
    registerParameter("go-to-ball.max-speed.y", maxSpeedY);
    registerParameter("go-to-ball.max-turn-speed", maxTurnSpeed);
    registerParameter("go-to-ball.target-angle-to-ball", targetAngleToBall);
    registerParameter("go-to-ball.walk-type", walkType);
    registerParameter("go-to-ball.y-offset", yOffset);
    registerParameter("go-to-ball.slow-down-distance", slowDownDistance);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
private:
  /** parameter "go-to-ball.distance" */
  double distanceAtEnd;
  
  /** parameter "go-to-ball.max-speed" */
  double maxSpeed;
  
  /** parameter "go-to-ball.max-speed.y" */
  double maxSpeedY;
  
  /** Restricts the walk acceleration to maximum values */
  WalkAccelerationRestrictor accelerationRestrictor;
  
  /** parameter "go-to-ball.target-angle-to-ball" */
  double targetAngleToBall;
  
  /** parameter "go-to-ball.y-offset" */
  double yOffset;
  
  /** parameter "walk-type" */
  double walkType;
  
  /** parameter "max-turn-speed" */
  double maxTurnSpeed;

  /** parameter "go-to-ball.slow-down-distance" */
  double slowDownDistance;

};

class GT2005BasicBehaviorGoToBallPropagated : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorGoToBallPropagated(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("go-to-ball-propagated", errorHandler),
    BehaviorControlInterfaces(interfaces),
    accelerationRestrictor(motionRequest)
  {
    registerParameter("go-to-ball-propagated.distance",distanceAtEnd);
    registerParameter("go-to-ball-propagated.max-speed", maxSpeed);
    registerParameter("go-to-ball-propagated.max-speed.y", maxSpeedY);
    registerParameter("go-to-ball-propagated.max-turn-speed", maxTurnSpeed);
    registerParameter("go-to-ball-propagated.target-angle-to-ball", targetAngleToBall);
    registerParameter("go-to-ball-propagated.walk-type", walkType);
    registerParameter("go-to-ball-propagated.y-offset", yOffset);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
private:
  /** parameter "go-to-ball.distance" */
  double distanceAtEnd;
  
  /** parameter "go-to-ball.max-speed" */
  double maxSpeed;
  
  /** parameter "go-to-ball.max-speed.y" */
  double maxSpeedY;
  
  /** Restricts the walk acceleration to maximum values */
  WalkAccelerationRestrictor accelerationRestrictor;
  
  /** parameter "go-to-ball.target-angle-to-ball" */
  double targetAngleToBall;
  
  /** parameter "go-to-ball.y-offset" */
  double yOffset;
  
  /** parameter "walk-type" */
  double walkType;
  
  /** parameter "max-turn-speed" */
  double maxTurnSpeed;
};


/**
* A Basic Behavior for clearing the ball
* @author Michael Spranger
* @author Matthias Jüngel
*/
class GT2005BasicBehaviorGoToBallWithoutTurning: public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorGoToBallWithoutTurning(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("go-to-ball-without-turning", errorHandler),
    BehaviorControlInterfaces(interfaces),
    accelerationRestrictor(motionRequest)
  {
    registerParameter("go-to-ball-without-turning.max-speed", maxSpeed);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
private:
  /** parameter "go-to-ball.distance" */
  double distanceAtEnd;
  
  /** parameter "go-to-ball.max-speed" */
  double maxSpeed;
  
  /** parameter "go-to-ball.max-speed.y" */
  double maxSpeedY;
  
  /** Restricts the walk acceleration to maximum values */
  WalkAccelerationRestrictor accelerationRestrictor;
  
  /** parameter "go-to-ball.target-angle-to-ball" */
  double targetAngleToBall;
  
  /** parameter "go-to-ball.y-offset" */
  double yOffset;
  
  /** parameter "walk-type" */
  double walkType;
  
  /** parameter "max-turn-speed" */
  double maxTurnSpeed;
};


/**
* A Basic Behavior for going to a point on the field
* @author Uwe Düffert
* @author Martin Lötzsch
*/
class GT2005BasicBehaviorGoToPoint : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorGoToPoint(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("go-to-point", errorHandler),
    BehaviorControlInterfaces(interfaces),
    accelerationRestrictor(motionRequest)
  {
    registerParameter("go-to-point.x", x);
    registerParameter("go-to-point.y", y);
    registerParameter("go-to-point.destination-angle", destinationAngle);
    registerParameter("go-to-point.distance-remain", distanceRemain);
    registerParameter("go-to-point.angle-remain", angleRemain);
    registerParameter("go-to-point.max-speed", maxSpeed);
    registerParameter("go-to-point.max-speed.y", maxSpeedY);
    registerParameter("go-to-point.walk-type", walkType);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
protected:
  /** parameter "go-to-point.x" */
  double x;
  
  /** parameter "go-to-point.y" */
  double y;
  
  /** parameter "go-to-point.destination-angle" */
  double destinationAngle;

  /** parameter "distance-remain" */
  double distanceRemain;

  /** parameter "angle-remain" */
  double angleRemain;

  /** parameter "go-to-point.max-speed" */
  double maxSpeed;
  
  /** parameter "go-to-point.max-speed.y" */
  double maxSpeedY;
  
  /** parameter "walk-type" */
  double walkType;
  
  /** Restricts the walk acceleration to maximum values */
  WalkAccelerationRestrictor accelerationRestrictor;
};

/**
* A Basic Behavior for going to a point relative to the current position
* @author 
*/
class GT2005BasicBehaviorGoToRelativePoint : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorGoToRelativePoint(BehaviorControlInterfaces& interfaces, Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("go-to-relative-point", errorHandler),
    BehaviorControlInterfaces(interfaces), accelerationRestrictor(motionRequest)
  {
    registerParameter("go-to-relative-point.x", x);
    registerParameter("go-to-relative-point.y", y);
    registerParameter("go-to-relative-point.destination-angle", destinationAngle);
    registerParameter("go-to-relative-point.distance-remain", distanceRemain);
    registerParameter("go-to-relative-point.angle-remain", angleRemain);
    registerParameter("go-to-relative-point.max-speed", maxSpeed);
    registerParameter("go-to-relative-point.max-speed.y", maxSpeedY);
    registerParameter("go-to-relative-point.walk-type", walkType);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
protected:
  /** parameter "go-to-relative-point.x" */
  double x;
  
  /** parameter "go-to-relative-point.y" */
  double y;
  
  /** parameter "go-to-relative-point.destination-angle" */
  double destinationAngle;

  /** parameter "go-to-relative-point.distance-remain" */
  double distanceRemain;

  /** parameter "go-to-relative-point.angle-remain" */
  double angleRemain;

  /** parameter "go-to-relative-point.max-speed" */
  double maxSpeed;
  
  /** parameter "go-to-relative-point.max-speed.y" */
  double maxSpeedY;
  
  /** parameter "go-to-relative-point.walk-type" */
  double walkType;
  
  /** Restricts the walk acceleration to maximum values */
  WalkAccelerationRestrictor accelerationRestrictor;

  double startX;
  double startY;
  double startRot;
};

/**
* A Basic Behavior for going to a point on the field
* @author Uwe Düffert
* @author Martin Lötzsch
*/
class GT2005BasicBehaviorGoToPointFast : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorGoToPointFast(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
  : Xabsl2BasicBehavior("go-to-point-fast", errorHandler),
    BehaviorControlInterfaces(interfaces)
  {
    registerParameter("go-to-point-fast.x", x);
    registerParameter("go-to-point-fast.y", y);
    registerParameter("go-to-point-fast.destination-angle", destinationAngle);
    registerParameter("go-to-point-fast.distance-remain", distanceRemain);
    registerParameter("go-to-point-fast.angle-remain", angleRemain);
    registerParameter("go-to-point-fast.max-speed", maxSpeed);
    registerParameter("go-to-point-fast.max-speed.y", maxSpeedY);
    registerParameter("go-to-point-fast.walk-type", walkType);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
protected:
  /** parameter "go-to-point.x" */
  double x;
  
  /** parameter "go-to-point.y" */
  double y;
  
  /** parameter "go-to-point.destination-angle" */
  double destinationAngle;

  /** parameter "distance-remain" */
  double distanceRemain;

  /** parameter "angle-remain" */
  double angleRemain;

  /** parameter "go-to-point.max-speed" */
  double maxSpeed;
  
  /** parameter "go-to-point.max-speed.y" */
  double maxSpeedY;
  
  /** parameter "walk-type" */
  double walkType;
};

/**
* A Basic Behavior for going to a the ball-interception-point on the field
* @author Christine Zarges
* @author Thorsten Kerkhof
*/
class GT2005BasicBehaviorGoToInterceptionPoint : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorGoToInterceptionPoint(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("go-to-interception-point", errorHandler),
    BehaviorControlInterfaces(interfaces),
    accelerationRestrictor(motionRequest)
  {
    registerParameter("go-to-interception-point.interception-point.x",x);
    registerParameter("go-to-interception-point.interception-point.y",y);
    registerParameter("go-to-interception-point.distance",distanceAtEnd);
    registerParameter("go-to-interception-point.max-speed", maxSpeed);
    registerParameter("go-to-interception-point.max-speed.y", maxSpeedY);
    registerParameter("go-to-interception-point.max-turn-speed", maxTurnSpeed);
    registerParameter("go-to-interception-point.walk-type", walkType);
    registerParameter("go-to-interception-point.y-offset", yOffset);
    registerParameter("go-to-interception-point.slow-down-distance", slowDownDistance);
    registerParameter("go-to-interception-point.angle-factor", angleFactor);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
private:
  /** parameter "interception-point.x" */
  double x;

  /** parameter "interception-point.y" */
  double y;

  /** parameter "go-to-ball.distance" */
  double distanceAtEnd;
  
  /** parameter "go-to-ball.max-speed" */
  double maxSpeed;
  
  /** parameter "go-to-ball.max-speed.y" */
  double maxSpeedY;
  
  /** Restricts the walk acceleration to maximum values */
  WalkAccelerationRestrictor accelerationRestrictor;
  
  /** parameter "go-to-ball.y-offset" */
  double yOffset;
  
  /** parameter "walk-type" */
  double walkType;
  
  /** parameter "max-turn-speed" */
  double maxTurnSpeed;

  /** parameter "go-to-ball.angle-factor" */
  double angleFactor;
    
  /** parameter "go-to-ball.slow-down-distance" */
  double slowDownDistance;
};


/**
* A Basic Behavior for going turning around a point on the field
* @author Jan Hoffmann
*/
class GT2005BasicBehaviorTurnAroundPoint : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorTurnAroundPoint(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("turn-around-point", errorHandler),
    BehaviorControlInterfaces(interfaces),
    accelerationRestrictor(motionRequest)
  {
    registerParameter("turn-around-point.x", x);
    registerParameter("turn-around-point.y", y);
    registerParameter("turn-around-point.radius", radius);
    registerParameter("turn-around-point.left-right", leftRight);
    registerParameter("turn-around-point.forward-component", forwardComponent);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
protected:
  /** parameter "turn-around-point.x" */
  double x;
  
  /** parameter "turn-around-point.y" */
  double y;
  
  /** parameter "turn-around-point.radius" */
  double radius;
  
  /** parameter "go-to-point.left-right" */
  double leftRight;
  
  /** parameter "go-to-point.forward-component" */
  double forwardComponent;
  
  /** Restricts the walk acceleration to maximum values */
  WalkAccelerationRestrictor accelerationRestrictor;
};

/**
* A Basic Behavior for going turning around a point on the field
* @author Jan Hoffmann
*/
class GT2005BasicBehaviorTurnAroundPointFast : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorTurnAroundPointFast(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("turn-around-point-fast", errorHandler),
    BehaviorControlInterfaces(interfaces),
    accelerationRestrictor(motionRequest)
  {
    registerParameter("turn-around-point-fast.x", x);
    registerParameter("turn-around-point-fast.y", y);
    registerParameter("turn-around-point-fast.radius", radius);
    registerParameter("turn-around-point-fast.left-right", leftRight);
    registerParameter("turn-around-point-fast.forward-component", forwardComponent);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
protected:
  /** parameter "turn-around-point-fast.x" */
  double x;
  
  /** parameter "turn-around-point-fast.y" */
  double y;
  
  /** parameter "turn-around-point-fast.radius" */
  double radius;
  
  /** parameter "turn-around-point-fast.left-right" */
  double leftRight;
  
  /** parameter "turn-around-point-fast.forward-component" */
  double forwardComponent;
  
  /** Restricts the walk acceleration to maximum values */
  WalkAccelerationRestrictor accelerationRestrictor;
};

/**
* A Basic Behavior for going turning around a point on the field
* @author Jan Hoffmann
*/
class GT2005BasicBehaviorTurnAroundPointWithRadius : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorTurnAroundPointWithRadius(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("turn-around-point-with-radius", errorHandler),
    BehaviorControlInterfaces(interfaces)
  {
    registerParameter("turn-around-point-with-radius.x", x);
    registerParameter("turn-around-point-with-radius.y", y);
    registerParameter("turn-around-point-with-radius.radius", radius);
    registerParameter("turn-around-point-with-radius.left-right", leftRight);
    registerParameter("turn-around-point-with-radius.forward-component", forwardComponent);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
protected:
  /** parameter "turn-around-point.x" */
  double x;
  
  /** parameter "turn-around-point.y" */
  double y;
  
  /** parameter "turn-around-point.radius" */
  double radius;
  
  /** parameter "go-to-point.left-right" */
  double leftRight;
  
  /** parameter "go-to-point.forward-component" */
  double forwardComponent;
};


/** A goalie positioning approach from Benjamin */
class GT2005BasicBehaviorGoaliePosition : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorGoaliePosition(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("goalie-position", errorHandler),
    BehaviorControlInterfaces(interfaces)
  {
  registerParameter("goalie-position.max-speed", maxSpeed);
  registerParameter("goalie-position.min-x-trans", minXTrans);
  registerParameter("goalie-position.min-y-trans", minYTrans);
  registerParameter("goalie-position.weight-pose", weightPose);
  registerParameter("goalie-position.weight-odo", weightOdo);
  registerParameter("goalie-position.cut-y", cutY);
  registerParameter("goalie-position.guard-direct-to-goal", guardDirectToGoal);
  registerParameter("goalie-position.guard-line", guardLine);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
protected:
  
  double maxSpeed;
  double minXTrans;
  double minYTrans;
  double weightPose;
  double weightOdo;
  double cutY;
  double guardDirectToGoal;
  double guardLine;
  
  Pose2D lastRobotPose;
  Pose2D lastOdometry;
  Pose2D goaliePose;
  Pose2D lastGoaliePose;
  
  
};

/**
* A Basic Behavior for positioning the goalie inside the own goal
* @author Martin Lötzsch
*/
class GT2005BasicBehaviorGoaliePositionReturn : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorGoaliePositionReturn(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("goalie-position-return", errorHandler),
    BehaviorControlInterfaces(interfaces),
    accelerationRestrictor(motionRequest)
  {
    registerParameter("goalie-position-return.x", x);
    registerParameter("goalie-position-return.y", y);
    registerParameter("goalie-position-return.destination-angle", destinationAngle);
    registerParameter("goalie-position-return.max-speed", maxSpeed);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
protected:
  /** parameter "goalie-position.x" */
  double x;
  
  /** parameter "goalie-position.y" */
  double y;
  
  /** parameter "goalie-position.destination-angle" */
  double destinationAngle;
  
  /** parameter "goalie-position.max-speed" */
  double maxSpeed;
  
  /** Restricts the walk acceleration to maximum values */
  WalkAccelerationRestrictor accelerationRestrictor;
};

/**
* A Basic Behavior for returning the goalie to the center of its goal
* @author Tim Laue
*/
class GT2005BasicBehaviorGoalieReturnToGoal : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorGoalieReturnToGoal(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("goalie-return-to-goal", errorHandler),
    BehaviorControlInterfaces(interfaces),
    accelerationRestrictor(motionRequest)
  {
    registerParameter("goalie-return-to-goal.x", x);
    registerParameter("goalie-return-to-goal.y", y);
    registerParameter("goalie-return-to-goal.max-speed", maxSpeed);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
protected:
  /** parameter "goalie-return-to-goal.x" */
  double x;
  
  /** parameter "goalie-return-to-goal.y" */
  double y;
  
  /** parameter "goalie-return-to-goal.max-speed" */
  double maxSpeed;
  
  /** Restricts the walk acceleration to maximum values */
  WalkAccelerationRestrictor accelerationRestrictor;
};

/**
* A Basic Behavior for going to a point on the field facing forward
* @author Uwe Düffert
* @author Martin Lötzsch
*/
class GT2005BasicBehaviorGoForwardToPoint : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorGoForwardToPoint(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("go-forward-to-point", errorHandler),
    BehaviorControlInterfaces(interfaces),
    accelerationRestrictor(motionRequest)
  {
    registerParameter("go-forward-to-point.x", x);
    registerParameter("go-forward-to-point.y", y);
    registerParameter("go-forward-to-point.max-speed", maxSpeed);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
protected:
  /** parameter "go-forward-to-point.x" */
  double x;
  
  /** parameter "go-forward-to-point.y" */
  double y;
  
  /** parameter "go-forward-to-point.max-speed" */
  double maxSpeed;
  
  /** Restricts the walk acceleration to maximum values */
  WalkAccelerationRestrictor accelerationRestrictor;
};

/**
* A Basic Behavior for going to a point on the field and avoiding obstacles on the way there.
* @author Jan Hoffmann
*/
class GT2005BasicBehaviorGoToPointAndAvoidObstacles : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorGoToPointAndAvoidObstacles(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("go-to-point-and-avoid-obstacles", errorHandler),
    BehaviorControlInterfaces(interfaces),
    turnSpeed(0, .5, 0, 0, -pi, pi, pi/2),
    speedX(0, .3, 0, 0, -80, 500, 100),
    speedY(0, .3, 0, 0, -150, 150, 100)
  {
    registerParameter("go-to-point-and-avoid-obstacles.x", x);
    registerParameter("go-to-point-and-avoid-obstacles.y", y);
    registerParameter("go-to-point-and-avoid-obstacles.max-speed", maxSpeed);
    registerParameter("go-to-point-and-avoid-obstacles.avoidance-level", avoidanceLevel);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
  
private:
  /** parameter "go-to-point-and-avoid-obstacles.x" */
  double x;
  
  /** parameter "go-to-point-and-avoid-obstacles.y" */
  double y;
  
  /** parameter "go-to-point-and-avoid-obstacles.max-speed" */
  double maxSpeed;
  
  /** parameter "go-to-point-and-avoid-obstacles.avoid-penalty-areas" */
  double avoidanceLevel;
  
  /** smoothes the rotation */  
  PIDsmoothedValue turnSpeed;
  
  /** smoothes the speed in forward direction */  
  PIDsmoothedValue speedX;
  
  /** smoothes the speed in sideways direction */  
  PIDsmoothedValue speedY;
  
  /** last time behavior was executed */
  long lastTimeExecuted;
};

/**
* A Basic Beha....
* @author 
*/
//class GT2005BasicBehaviorDogAsJoystick : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
//{
//public:
///*
//* Constructor.
//* @param errorHandler Is invoked when errors occur
//* @param interfaces The paramters of the BehaviorControl module.
//  */
//  GT2005BasicBehaviorDogAsJoystick(BehaviorControlInterfaces& interfaces,
//    Xabsl2ErrorHandler& errorHandler)
//    : Xabsl2BasicBehavior("dog-as-joystick", errorHandler),
//    BehaviorControlInterfaces(interfaces)
//  {
//  }
//  
//  /**  Executes the basic behavior. */
//  virtual void execute();
//  
//private:
//};

struct WLanInfo
{
  unsigned long measures;
  double        link;
  double        noise;
  double        signal;

  double        dLink;
  double        dNoise;
  double        dSignal;
};

#define FILTEREDINFO  16
#define WLANINFO      360

/**
* @class GT2005BasicBehaviorWlanBearing
*
* Creates and registers simple basic behaviors
*/
class GT2005BasicBehaviorCalcWlanBearing : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorCalcWlanBearing(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("calc-wlan-bearing", errorHandler),
    BehaviorControlInterfaces(interfaces)//,
    //turnSpeed(0, .5, 0, 0, -pi, pi, pi/2),
    //speedX(0, .4, 0, 0, -80, 350, 100),
    //speedY(0, .4, 0, 0, -100, 100, 100)
  {
    registerParameter("calc-wlan-bearing.init", state);

    initExecuted = false;
    filterExecuted = false;

    numMeasure = 0;
  }
  
  /**  Initialization. */
  virtual void init();
  
  /**  Executes the basic behavior. */
  virtual void execute();

  virtual void Filter();

private:
  unsigned int  numMeasure;
  unsigned long startTime;

  double        state;

  unsigned int  frames;
  WLanInfo      wlanInfo[WLANINFO];

  WLanInfo      filteredInfo[FILTEREDINFO];

  bool          initExecuted;
  bool          filterExecuted;

  OdometryData  lastOdometry;

  double        rotationAngle;
};

/**
* @class GT2005BasicBehaviorWlanBearing
*
* Creates and registers simple basic behaviors
*/
class GT2005BasicBehaviorLocateMaxGreen : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorLocateMaxGreen(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("locate-max-green", errorHandler),
    BehaviorControlInterfaces(interfaces)
  {
    registerParameter("locate-max-green.param", param);

    Init ();
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
private:
  void Init ();
  OdometryData  lastOdometry;

  double        rotationAngle;

  double        param;
};

/**
* @class GT2005BasicBehaviorWlanBearing
*
* Creates and registers simple basic behaviors
*/
class GT2005BasicBehaviorTurn : public Xabsl2BasicBehavior, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param errorHandler Is invoked when errors occur
* @param interfaces The paramters of the BehaviorControl module.
  */
  GT2005BasicBehaviorTurn(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : Xabsl2BasicBehavior("turn", errorHandler),
    BehaviorControlInterfaces(interfaces)//,
  {
    registerParameter("turn.angle", angle);
    registerParameter("turn.radian", radian);
    registerParameter("turn.param", param);
  }
  
  /**  Executes the basic behavior. */
  virtual void execute();
private:
  void Init ();

  OdometryData  lastOdometry;

  double        angle;

  double        radian;

  double        rotationAngle;

  double        targetRotation;

  double        param;
};

/**
* @class SimpleBasicBehaviors
*
* Creates and registers simple basic behaviors
*/
class GT2005SimpleBasicBehaviors : public BehaviorControlInterfaces
{
public:
/**
* Constructor
  */
  GT2005SimpleBasicBehaviors(BehaviorControlInterfaces& interfaces,
    Xabsl2ErrorHandler& errorHandler)
    : BehaviorControlInterfaces(interfaces),
    errorHandler(errorHandler),
    basicBehaviorGoToBallWoTurning(interfaces,errorHandler),
    basicBehaviorNewGoToBall(interfaces,errorHandler),
    basicBehaviorGoToBallPropagated(interfaces,errorHandler),
    basicBehaviorGoToBall(interfaces,errorHandler),
    basicBehaviorGoToPoint(interfaces,errorHandler),
    basicBehaviorGoToPointFast(interfaces,errorHandler),
    basicBehaviorGoToInterceptionPoint(interfaces,errorHandler),
    basicBehaviorGoForwardToPoint(interfaces,errorHandler),
    basicBehaviorTurnAroundPoint(interfaces,errorHandler),
    basicBehaviorGoToPointAndAvoidObstacles(interfaces,errorHandler),
    //basicBehaviorDogAsJoystick(interfaces,errorHandler),
    basicBehaviorGoaliePosition(interfaces,errorHandler),
    basicBehaviorGoalieReturnToGoal(interfaces,errorHandler),
    basicBehaviorGoaliePositionReturn(interfaces,errorHandler),
    basicBehaviorTurnAroundPointWithRadius(interfaces,errorHandler),
  basicBehaviorGoToRelativePoint(interfaces,errorHandler),
    basicBehaviorCalcWLanBearing(interfaces,errorHandler),
    basicBehaviorLocateMaxGreen(interfaces,errorHandler),
    basicBehaviorTurnAroundPointFast(interfaces,errorHandler),
    basicBehaviorTurn(interfaces,errorHandler)
   {}
  
  /** Registers basic behaviors at the engine */
  void registerBasicBehaviors(Xabsl2Engine& engine)
  {
    engine.registerBasicBehavior(basicBehaviorGoToBallWoTurning);
    engine.registerBasicBehavior(basicBehaviorNewGoToBall);
    engine.registerBasicBehavior(basicBehaviorGoToBallPropagated);
    engine.registerBasicBehavior(basicBehaviorGoToBall);
    engine.registerBasicBehavior(basicBehaviorGoToPoint);
    engine.registerBasicBehavior(basicBehaviorGoToPointFast);
    engine.registerBasicBehavior(basicBehaviorGoToInterceptionPoint);
    engine.registerBasicBehavior(basicBehaviorGoForwardToPoint);
    engine.registerBasicBehavior(basicBehaviorGoToPointAndAvoidObstacles);
    engine.registerBasicBehavior(basicBehaviorTurnAroundPoint);
    //engine.registerBasicBehavior(basicBehaviorDogAsJoystick);
    engine.registerBasicBehavior(basicBehaviorGoaliePosition);
    engine.registerBasicBehavior(basicBehaviorGoalieReturnToGoal);
    engine.registerBasicBehavior(basicBehaviorGoaliePositionReturn);
    engine.registerBasicBehavior(basicBehaviorTurnAroundPointWithRadius);
  engine.registerBasicBehavior(basicBehaviorGoToRelativePoint);
    engine.registerBasicBehavior(basicBehaviorCalcWLanBearing);
    engine.registerBasicBehavior(basicBehaviorLocateMaxGreen);
    engine.registerBasicBehavior(basicBehaviorTurnAroundPointFast);
    engine.registerBasicBehavior(basicBehaviorTurn);
  }
  
private:
  /** Is invoked when errors occurs */
  Xabsl2ErrorHandler& errorHandler;
  
  //!@name Basic Behaviors
  //!@{
  GT2005BasicBehaviorGoToBallWithoutTurning basicBehaviorGoToBallWoTurning;
  GT2005BasicBehaviorNewGoToBall  basicBehaviorNewGoToBall;
  GT2005BasicBehaviorGoToBall  basicBehaviorGoToBall;
  GT2005BasicBehaviorGoToBallPropagated  basicBehaviorGoToBallPropagated;
  GT2005BasicBehaviorGoToPoint  basicBehaviorGoToPoint;
  GT2005BasicBehaviorGoToPointFast basicBehaviorGoToPointFast;
  GT2005BasicBehaviorGoToInterceptionPoint  basicBehaviorGoToInterceptionPoint;
  GT2005BasicBehaviorGoForwardToPoint  basicBehaviorGoForwardToPoint;  
  GT2005BasicBehaviorTurnAroundPoint basicBehaviorTurnAroundPoint;  
  GT2005BasicBehaviorGoToPointAndAvoidObstacles  basicBehaviorGoToPointAndAvoidObstacles;
  //GT2005BasicBehaviorDogAsJoystick basicBehaviorDogAsJoystick;
  GT2005BasicBehaviorGoaliePosition  basicBehaviorGoaliePosition;
  GT2005BasicBehaviorGoalieReturnToGoal basicBehaviorGoalieReturnToGoal;
  GT2005BasicBehaviorGoaliePositionReturn  basicBehaviorGoaliePositionReturn;
  GT2005BasicBehaviorTurnAroundPointWithRadius basicBehaviorTurnAroundPointWithRadius;
  GT2005BasicBehaviorGoToRelativePoint  basicBehaviorGoToRelativePoint;
  GT2005BasicBehaviorCalcWlanBearing basicBehaviorCalcWLanBearing;
  GT2005BasicBehaviorLocateMaxGreen basicBehaviorLocateMaxGreen;
  GT2005BasicBehaviorTurnAroundPointFast basicBehaviorTurnAroundPointFast;
  GT2005BasicBehaviorTurn basicBehaviorTurn;
  //!@}
};

#endif // __GT2005SimpleBasicBehaviors_h_

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