ChallengeSymbols Class Reference

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

#include <ChallengeSymbols.h>

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[legend]List of all members.

Public Member Functions
	ChallengeSymbols (const BehaviorControlInterfaces &interfaces)
void	registerSymbols (Xabsl2Engine &engine)
	registers the symbols at an engine
void	update ()
	updates the symbols
void	challenge2Swap (Pose2D *p, int i, int j)
void	challenge2ShortestPermutation (Pose2D *p, int n, double &minLength)
void	challenge2ShortestPath ()
void	challenge2OptimalRotation (Pose2D &pose)
double	_challenge2TargetPositionX ()
	Returns x coordinate of target position with current index.
double	_challenge2TargetPositionY ()
	Returns y coordinate of target position with current index.
double	_challenge2TargetPositionRotation ()
	Returns rotation of target position with current index.
double	challenge2TargetPositionX (double index)
	Returns x coordinate of target position with current index.
double	challenge2TargetPositionY (double index)
	Returns y coordinate of target position with current index.
double	challenge2TargetPositionRotation (double index)
	Returns rotation of target position with current index.
double	imageCharacteristicsAvgY ()
double	imageCharacteristicsAvgU ()
double	imageCharacteristicsAvgV ()
double	getProbableOrientation ()
double	getTimeSinceCenterCircleVisible ()
Private Attributes
Pose2D	targetPositions [5]
	The 5 target positions for the localization challenge.
double	index
	the index for targetPosition? functions
double	lastIndex
	The index of the previous call.
unsigned long	lastSeenCenterCircle
double	timeSinceLastCenterCircle

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Detailed Description

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

Author:

Thomas Röfer

Definition at line 20 of file ChallengeSymbols.h.

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Constructor & Destructor Documentation

ChallengeSymbols::ChallengeSymbols (  const BehaviorControlInterfaces &  interfaces  )

Definition at line 17 of file ChallengeSymbols.cpp. References challenge2OptimalRotation(), InFile::exists(), getPlayer(), Player::getTeamColor(), targetPositions, Pose2D::translation, and Vector2< double >::x.

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Member Function Documentation

void ChallengeSymbols::registerSymbols (  Xabsl2Engine &  engine  )

registers the symbols at an engine Definition at line 40 of file ChallengeSymbols.cpp. References _challenge2TargetPositionRotation(), _challenge2TargetPositionX(), _challenge2TargetPositionY(), SystemCall::getCurrentSystemTime(), getProbableOrientation(), getXmlString(), lastSeenCenterCircle, Xabsl2Symbols::registerBooleanInputSymbol(), Xabsl2Symbols::registerDecimalInputFunction(), Xabsl2Symbols::registerDecimalInputFunctionParameter(), Xabsl2Symbols::registerDecimalInputSymbol(), Xabsl2Symbols::registerEnumeratedOutputSymbol(), Xabsl2Symbols::registerEnumeratedOutputSymbolEnumElement(), SpecialPercept::slamData, and slamPercept. Referenced by GT2005BehaviorControl::registerSymbolsAndBasicBehaviors().

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void ChallengeSymbols::update (   )

updates the symbols Definition at line 114 of file ChallengeSymbols.cpp.

void ChallengeSymbols::challenge2Swap (  Pose2D *  p, int  i, int  j )

Definition at line 222 of file ChallengeSymbols.cpp. Referenced by challenge2ShortestPermutation().

void ChallengeSymbols::challenge2ShortestPermutation (  Pose2D *  p, int  n, double &  minLength )

Definition at line 200 of file ChallengeSymbols.cpp. References challenge2Swap(), targetPositions, and Pose2D::translation. Referenced by challenge2ShortestPath().

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void ChallengeSymbols::challenge2ShortestPath (   )

Definition at line 186 of file ChallengeSymbols.cpp. References challenge2ShortestPermutation(), and targetPositions. Referenced by challenge2TargetPositionRotation(), challenge2TargetPositionX(), and challenge2TargetPositionY().

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void ChallengeSymbols::challenge2OptimalRotation (  Pose2D &  pose  )

Definition at line 167 of file ChallengeSymbols.cpp. References pi, pi_2, Pose2D::rotation, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y. Referenced by ChallengeSymbols().

double ChallengeSymbols::_challenge2TargetPositionX (   )

Returns x coordinate of target position with current index. Definition at line 118 of file ChallengeSymbols.cpp. References challenge2TargetPositionX(). Referenced by registerSymbols().

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double ChallengeSymbols::_challenge2TargetPositionY (   )

Returns y coordinate of target position with current index. Definition at line 123 of file ChallengeSymbols.cpp. References challenge2TargetPositionY(). Referenced by registerSymbols().

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double ChallengeSymbols::_challenge2TargetPositionRotation (   )

Returns rotation of target position with current index. Definition at line 128 of file ChallengeSymbols.cpp. References challenge2TargetPositionRotation(). Referenced by registerSymbols().

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double ChallengeSymbols::challenge2TargetPositionX (  double  index  )

Returns x coordinate of target position with current index. Definition at line 133 of file ChallengeSymbols.cpp. References challenge2ShortestPath(), targetPositions, Pose2D::translation, and Vector2< double >::x. Referenced by _challenge2TargetPositionX(), and GT2005BehaviorControl::drawOptions().

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double ChallengeSymbols::challenge2TargetPositionY (  double  index  )

Returns y coordinate of target position with current index. Definition at line 139 of file ChallengeSymbols.cpp. References challenge2ShortestPath(), targetPositions, Pose2D::translation, and Vector2< double >::y. Referenced by _challenge2TargetPositionY(), and GT2005BehaviorControl::drawOptions().

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double ChallengeSymbols::challenge2TargetPositionRotation (  double  index  )

Returns rotation of target position with current index. Definition at line 145 of file ChallengeSymbols.cpp. References challenge2ShortestPath(), targetPositions, and toDegrees(). Referenced by _challenge2TargetPositionRotation().

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double ChallengeSymbols::imageCharacteristicsAvgY (   )

Definition at line 151 of file ChallengeSymbols.cpp. References SpecialPercept::slamData.

double ChallengeSymbols::imageCharacteristicsAvgU (   )

Definition at line 156 of file ChallengeSymbols.cpp. References SpecialPercept::slamData.

double ChallengeSymbols::imageCharacteristicsAvgV (   )

Definition at line 161 of file ChallengeSymbols.cpp. References SpecialPercept::slamData.

double ChallengeSymbols::getProbableOrientation (   )

Definition at line 229 of file ChallengeSymbols.cpp. Referenced by registerSymbols().

double ChallengeSymbols::getTimeSinceCenterCircleVisible (   )

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Member Data Documentation

Pose2D ChallengeSymbols::targetPositions[5] [private]

The 5 target positions for the localization challenge. Definition at line 55 of file ChallengeSymbols.h. Referenced by challenge2ShortestPath(), challenge2ShortestPermutation(), challenge2TargetPositionRotation(), challenge2TargetPositionX(), challenge2TargetPositionY(), and ChallengeSymbols().

double ChallengeSymbols::index [private]

the index for targetPosition? functions Definition at line 56 of file ChallengeSymbols.h.

double ChallengeSymbols::lastIndex [private]

The index of the previous call. Definition at line 56 of file ChallengeSymbols.h.

unsigned long ChallengeSymbols::lastSeenCenterCircle [private]

Definition at line 59 of file ChallengeSymbols.h. Referenced by registerSymbols().

double ChallengeSymbols::timeSinceLastCenterCircle [private]

Definition at line 60 of file ChallengeSymbols.h.

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

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

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