Cognition Class Reference

A Process for cognition related modules in the HU1 process layout. More...

#include <Cognition.h>

Inheritance diagram for Cognition:

[legend]Collaboration diagram for Cognition:

[legend]List of all members.


representations
void	performFpsMeasure ()
char	colorTableBuffer [sizeof(ColorTable64) > sizeof(ColorTableTSL)?sizeof(ColorTable64) > sizeof(ColorTable32K)?sizeof(ColorTable64):sizeof(ColorTable32K):sizeof(ColorTableTSL) > sizeof(ColorTable32K)?sizeof(ColorTableTSL):sizeof(ColorTable32K)]
	the color tables
ColorTable &	colorTable
	the color table
CameraMatrix	cameraMatrix
	The offset and rotation of the camera.
BallPercept	ballPercept
	Detected balls.
PlayersPercept	playersPercept
	Detected players.
ObstaclesPercept	obstaclesPercept
	Detected obstacles.
CollisionPercept	collisionPercept
	The collision percept.
LinesPercept	linesPercept
	Detected lines.
EdgesPercept	edgesPercept
	Detected edges.
BodyPercept	bodyPercept
	Detected switches.
BodyPosture	bodyPosture
	The height and the inclination of the robot's body.
PSDPercept	psdPercept
	A spot relative to the robot that was detected by the PSD sensor.
SpecialPercept	specialPercept
	A special percept.
SpecialVisionRequest	specialVisionRequest
	The request for the specialVision module.
CalibrationRequest	calibrationRequest
	The request for calibration.
SampleSetProxy< PoseSample >	selfLocatorSamples
	The sample set proxy linked to the sample set of the active locator.
GT2005ParticleContainer	ballLocatorSamples
	The particles of the ball locator.
PassCorridorCollection	passCorridorCollection
	The calculated pass corridors.
PlayersModel	playersModel
	The players model set by the players locator.
TeamMessageCollection	teamMessageCollection
	The team message collection.
BehaviorTeamMessage	outgoingBehaviorTeamMessage
	The outgoing behavior team message.
JoystickData	joystickData
	Data produced by an extern sensor called joystick.
RobotPoseCollection	robotPoseCollection
	robot pose collection
BallHandling	ballHandling
	The feedback of the behavior about the ball handling.
unsigned long	lastFrameNumber
unsigned long	fpsCounter
unsigned long	fpsLastMeasureTime
Public Member Functions
	Cognition ()
	constructor
	~Cognition ()
	destructor
virtual int	main ()
	is called from the framework once in every frame
virtual void	init ()
	is called direct before the first call of main()
virtual bool	handleMessage (InMessage &message)
	The function handles incoming debug messages.
Protected Attributes
bool	processImage
	If true, then a new image was received in the current frame.
bool	processSensorData
	If true, then new sensor data were received in the current frame.
bool	processPercepts
	If true, then percepts were received or generated in the current frame.
GTCamWorldState	gtCamWorldStateIN
	A GTCam Worldstate.
GTCamWorldState	gtCamWorldStateOUT
bool	traceStored
	Has a trace already been stored?
modules
ColorTableModSelector *	pColorTableMod
	a reference to the colortable selector
ImageProcessorSelector *	pImageProcessor
	a reference to the image processor
SensorDataProcessorSelector *	pSensorDataProcessor
	a reference to the sensor data processor
CollisionDetectorSelector *	pCollisionDetector
	a reference to the collision detector
RobotStateDetectorSelector *	pRobotStateDetector
	a reference to the robot state detector
BallLocatorSelector *	pBallLocator
	a reference to the ball-locator
TeamBallLocatorSelector *	pTeamBallLocator
	a reference to the team ball locator
PlayersLocatorSelector *	pPlayersLocator
	a reference to the players-locator
ObstaclesLocatorSelector *	pObstaclesLocator
	a reference to the obstacles-locator
SelfLocatorSelector *	pSelfLocator
	a reference to the self-locator
BehaviorControlSelector *	pBehaviorControl
	a reference to the behavior control
SensorBehaviorControlSelector *	pSensorBehaviorControl
	a reference to sensor based behavior control
SpecialVision *	pSpecialVision
	a reference to the special vison module
GTCamSelector *	pGTCamSelector
	a reference to the GTCamSelector
Private Member Functions
	RECEIVER (SensorDataBuffer)
	RECEIVER (Image)
	NET_RECEIVER (GameControlData)
	RECEIVER (PackageMotionCognition)
	RECEIVER (OdometryData)
	NET_SENDER (TeamMessage1)
	NET_SENDER (TeamMessage2)
	NET_SENDER (TeamMessage3)
	NET_RECEIVER (TeamMessage1)
	NET_RECEIVER (TeamMessage2)
	NET_RECEIVER (TeamMessage3)
	SENDER (PackageCognitionMotion)
	SHARED_SENDER (Trace)
	SHARED_RECEIVER (Trace)
	UDP_BROADCAST_HANDLER (GameControlData)
Private Attributes
	DEBUGGING
	GTCAM_HANDLER
	GTCAM_TIMESYNC_HANDLER
	STATUSBROADCAST_HANDLER
	UDP_HANDLER

Detailed Description

A Process for cognition related modules in the HU1 process layout.

Definition at line 62 of file Cognition.h.

Constructor & Destructor Documentation

Cognition::Cognition ( )

constructor

Definition at line 28 of file Cognition.cpp.
References Process::debugOut, endl(), fpsCounter, fpsLastMeasureTime, SystemCall::getCurrentSystemTime(), getPlayer(), INIT_DEBUGGING, INIT_NET_RECEIVER, INIT_NET_SENDER, INIT_RECEIVER, INIT_RECEIVER_IMAGE, INIT_RECEIVER_SENSORDATA, INIT_SENDER, lastFrameNumber, pBallLocator, pBehaviorControl, pCollisionDetector, pColorTableMod, pGTCamSelector, pImageProcessor, pObstaclesLocator, pPlayersLocator, pRobotStateDetector, pSelfLocator, pSensorBehaviorControl, pSensorDataProcessor, pSpecialVision, pTeamBallLocator, GTCamWorldState::setFlip(), TeamMessageCollection::setInTeamMessages(), TeamMessageCollection::setOutTeamMessages(), MessageQueue::setSize(), setTrace(), and watchdog.

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Cognition::~Cognition ( )

destructor

Definition at line 315 of file Cognition.cpp.
References pBallLocator, pBehaviorControl, pCollisionDetector, pColorTableMod, pGTCamSelector, pImageProcessor, pObstaclesLocator, pPlayersLocator, pRobotStateDetector, pSelfLocator, pSensorBehaviorControl, pSensorDataProcessor, pSpecialVision, and pTeamBallLocator.

Member Function Documentation

Cognition::RECEIVER ( SensorDataBuffer ) [private]

Cognition::RECEIVER ( Image ) [private]

Cognition::NET_RECEIVER ( GameControlData ) [private]

Cognition::RECEIVER ( PackageMotionCognition ) [private]

Cognition::RECEIVER ( OdometryData ) [private]

Cognition::NET_SENDER ( TeamMessage1 ) [private]

Cognition::NET_SENDER ( TeamMessage2 ) [private]

Cognition::NET_SENDER ( TeamMessage3 ) [private]

Cognition::NET_RECEIVER ( TeamMessage1 ) [private]

Cognition::NET_RECEIVER ( TeamMessage2 ) [private]

Cognition::NET_RECEIVER ( TeamMessage3 ) [private]

Cognition::SENDER ( PackageCognitionMotion ) [private]

Cognition::SHARED_SENDER ( Trace ) [private]

Cognition::SHARED_RECEIVER ( Trace ) [private]

Cognition::UDP_BROADCAST_HANDLER ( GameControlData ) [private]

int Cognition::main ( ) [virtual]

is called from the framework once in every frame

"button based" sending of representations
test drawings
Implements Process.
Definition at line 354 of file Cognition.cpp.
References BallPercept::ballWasSeen, DEBUG_RESPONSE, Module::execute(), ModuleSelector::execute(), getPlayer(), getStreamHandler(), SystemCall::getTimeSince(), GT_TRACE, idBallModel, idBallPercept, idCameraMatrix, idCameraParameters, idCollisionPercept, idColorTable64, idDrawingManager, idEdgesPercept, idImage, idJPEGImage, idJPEGImage2, idLandmarksPercept, idLinesPercept, idLowResImage, idObstaclesPercept, idOdometryData, idPercepts, idPlayersPercept, idProcessBegin, idRobotPose, idSensorData, idSpecialPercept, idStreamSpecification, idText, idWorldState, INFO, MODIFY, NCOLORED_LINE, NCOMPLEX_DRAWING, NDECLARE_DEBUGDRAWING, NSTOP_TIME_ON_REQUEST, OUTPUT, pBallLocator, pBehaviorControl, pCollisionDetector, pColorTableMod, performFpsMeasure(), pGTCamSelector, pImageProcessor, pObstaclesLocator, pPlayersLocator, pRobotStateDetector, processImage, TeamMessageCollection::processMessages(), processPercepts, processSensorData, pSelfLocator, pSensorBehaviorControl, pSensorDataProcessor, pSpecialVision, pTeamBallLocator, SEND_IMAGE, SEND_PERCEPTS, SEND_WORLD_STATE, STOP_TIME_ON_REQUEST, traceStored, and WATCH.

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void Cognition::init ( ) [virtual]

is called direct before the first call of main()

Reimplemented from Process.
Definition at line 874 of file Cognition.cpp.
References getPlayer(), getRobotConfiguration(), idText, INIT_GTCAM_HANDLER, INIT_GTCAM_TIMESYNC_HANDLER, INIT_STATUSBROADCAST_HANDLER, INIT_UDP_HANDLER, OUTPUT, START_UDP_BROADCAST_HANDLER, and START_UDP_HANDLER.

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bool Cognition::handleMessage ( InMessage & message ) [virtual]

The function handles incoming debug messages.

Parameters:

message the message to handle

Returns:
Has the message been handled?

Reimplemented from Process.
Definition at line 909 of file Cognition.cpp.
References InMessage::bin, ColorTableTSL::calculateLUT(), colorTableBuffer, GenericDebugData::data, Process::debugDataTable, Process::debugOut, CameraMatrix::frameNumber, InMessage::getMessageID(), getRobotConfiguration(), Process::handleMessage(), RobotConfiguration::handleMessage(), ModuleSelector::handleMessage(), GenericDebugData::id, idBehaviorEvolutionParameters, idBehaviorEvolutionPopulation, idBodyOffsets, idCameraParameters, idColorTable64, idColorTableTSL, idDDDSelfLocatorParameters, idDebugDataChangeRequest, idDebugRequest, idGameControlData, idGenericDebugData, idGT2004EvolutionRequest, idGT2004Parameters, idGTCamWorldState, idHeadControlMode, idImage, idImageProcessorParameters, idJoystickData, idJPEGImage, idKickSelectionTable, idLEDRequest, idLinesSelfLocatorParameters, idLowResImage, idMotionRequest, idOracledWorldState, idPercepts, idRemoteCamWorldState, idSensorData, idSoundRequest, idSpecialPercept, idText, idWorldState, idXabsl2DebugRequest, OUTPUT, pBehaviorControl, pImageProcessor, DebugDataTable::processChangeRequest(), processImage, processPercepts, processSensorData, pSelfLocator, RECEIVE_IMAGE, RECEIVE_PERCEPTS, RECEIVE_WORLDSTATE, Sensors::setCameraParameters(), TeamMessageCollection::setDelay(), and JPEGImage::toImage().

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void Cognition::performFpsMeasure ( ) [protected]

Definition at line 339 of file Cognition.cpp.
References fpsCounter, fpsLastMeasureTime, and SystemCall::getCurrentSystemTime().
Referenced by main().

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Member Data Documentation

Cognition::DEBUGGING [private]

Definition at line 66 of file Cognition.h.

Cognition::GTCAM_HANDLER [private]

Definition at line 67 of file Cognition.h.

Cognition::GTCAM_TIMESYNC_HANDLER [private]

Definition at line 68 of file Cognition.h.

Cognition::STATUSBROADCAST_HANDLER [private]

Definition at line 72 of file Cognition.h.

Cognition::UDP_HANDLER [private]

Definition at line 97 of file Cognition.h.

bool Cognition::processImage [protected]

If true, then a new image was received in the current frame.

Definition at line 136 of file Cognition.h.
Referenced by handleMessage(), and main().

bool Cognition::processSensorData [protected]

If true, then new sensor data were received in the current frame.

Definition at line 139 of file Cognition.h.
Referenced by handleMessage(), and main().

bool Cognition::processPercepts [protected]

If true, then percepts were received or generated in the current frame.

Definition at line 142 of file Cognition.h.
Referenced by handleMessage(), and main().

GTCamWorldState Cognition::gtCamWorldStateIN [protected]

A GTCam Worldstate.

Definition at line 145 of file Cognition.h.

GTCamWorldState Cognition::gtCamWorldStateOUT [protected]

Definition at line 146 of file Cognition.h.

ColorTableModSelector* Cognition::pColorTableMod [protected]

a reference to the colortable selector

Definition at line 152 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().

ImageProcessorSelector* Cognition::pImageProcessor [protected]

a reference to the image processor

Definition at line 155 of file Cognition.h.
Referenced by Cognition(), handleMessage(), main(), and ~Cognition().

SensorDataProcessorSelector* Cognition::pSensorDataProcessor [protected]

a reference to the sensor data processor

Definition at line 158 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().

CollisionDetectorSelector* Cognition::pCollisionDetector [protected]

a reference to the collision detector

Definition at line 161 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().

RobotStateDetectorSelector* Cognition::pRobotStateDetector [protected]

a reference to the robot state detector

Definition at line 164 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().

BallLocatorSelector* Cognition::pBallLocator [protected]

a reference to the ball-locator

Definition at line 167 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().

TeamBallLocatorSelector* Cognition::pTeamBallLocator [protected]

a reference to the team ball locator

Definition at line 170 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().

PlayersLocatorSelector* Cognition::pPlayersLocator [protected]

a reference to the players-locator

Definition at line 173 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().

ObstaclesLocatorSelector* Cognition::pObstaclesLocator [protected]

a reference to the obstacles-locator

Definition at line 176 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().

SelfLocatorSelector* Cognition::pSelfLocator [protected]

a reference to the self-locator

Definition at line 179 of file Cognition.h.
Referenced by Cognition(), handleMessage(), main(), and ~Cognition().

BehaviorControlSelector* Cognition::pBehaviorControl [protected]

a reference to the behavior control

Definition at line 182 of file Cognition.h.
Referenced by Cognition(), handleMessage(), main(), and ~Cognition().

SensorBehaviorControlSelector* Cognition::pSensorBehaviorControl [protected]

a reference to sensor based behavior control

Definition at line 185 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().

SpecialVision* Cognition::pSpecialVision [protected]

a reference to the special vison module

Definition at line 188 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().

GTCamSelector* Cognition::pGTCamSelector [protected]

a reference to the GTCamSelector

Definition at line 191 of file Cognition.h.
Referenced by Cognition(), main(), and ~Cognition().

char Cognition::colorTableBuffer[sizeof(ColorTable64) > sizeof(ColorTableTSL) ? sizeof(ColorTable64) > sizeof(ColorTable32K) ? sizeof(ColorTable64) : sizeof(ColorTable32K) : sizeof(ColorTableTSL) > sizeof (ColorTable32K) ? sizeof(ColorTableTSL) : sizeof(ColorTable32K)] [protected]

the color tables

Definition at line 203 of file Cognition.h.
Referenced by handleMessage().

ColorTable& Cognition::colorTable [protected]

the color table

Definition at line 205 of file Cognition.h.

CameraMatrix Cognition::cameraMatrix [protected]

The offset and rotation of the camera.

Definition at line 208 of file Cognition.h.

BallPercept Cognition::ballPercept [protected]

Detected balls.

Definition at line 211 of file Cognition.h.

PlayersPercept Cognition::playersPercept [protected]

Detected players.

Definition at line 214 of file Cognition.h.

ObstaclesPercept Cognition::obstaclesPercept [protected]

Detected obstacles.

Definition at line 217 of file Cognition.h.

CollisionPercept Cognition::collisionPercept [protected]

The collision percept.

Definition at line 220 of file Cognition.h.

LinesPercept Cognition::linesPercept [protected]

Detected lines.

Definition at line 223 of file Cognition.h.

EdgesPercept Cognition::edgesPercept [protected]

Detected edges.

Definition at line 226 of file Cognition.h.

BodyPercept Cognition::bodyPercept [protected]

Detected switches.

Definition at line 229 of file Cognition.h.

BodyPosture Cognition::bodyPosture [protected]

The height and the inclination of the robot's body.

Definition at line 232 of file Cognition.h.

PSDPercept Cognition::psdPercept [protected]

A spot relative to the robot that was detected by the PSD sensor.

Definition at line 235 of file Cognition.h.

SpecialPercept Cognition::specialPercept [protected]

A special percept.

Definition at line 238 of file Cognition.h.

SpecialVisionRequest Cognition::specialVisionRequest [protected]

The request for the specialVision module.

Definition at line 241 of file Cognition.h.

CalibrationRequest Cognition::calibrationRequest [protected]

The request for calibration.

Definition at line 244 of file Cognition.h.

SampleSetProxy<PoseSample> Cognition::selfLocatorSamples [protected]

The sample set proxy linked to the sample set of the active locator.

Definition at line 247 of file Cognition.h.

GT2005ParticleContainer Cognition::ballLocatorSamples [protected]

The particles of the ball locator.

Definition at line 250 of file Cognition.h.

PassCorridorCollection Cognition::passCorridorCollection [protected]

The calculated pass corridors.

Definition at line 253 of file Cognition.h.

PlayersModel Cognition::playersModel [protected]

The players model set by the players locator.

Definition at line 256 of file Cognition.h.

TeamMessageCollection Cognition::teamMessageCollection [protected]

The team message collection.

Definition at line 259 of file Cognition.h.

BehaviorTeamMessage Cognition::outgoingBehaviorTeamMessage [protected]

The outgoing behavior team message.

Definition at line 262 of file Cognition.h.

JoystickData Cognition::joystickData [protected]

Data produced by an extern sensor called joystick.

Definition at line 265 of file Cognition.h.

RobotPoseCollection Cognition::robotPoseCollection [protected]

robot pose collection

Definition at line 268 of file Cognition.h.

BallHandling Cognition::ballHandling [protected]

The feedback of the behavior about the ball handling.

Definition at line 271 of file Cognition.h.

unsigned long Cognition::lastFrameNumber [protected]

Definition at line 273 of file Cognition.h.
Referenced by Cognition().

unsigned long Cognition::fpsCounter [protected]

Definition at line 276 of file Cognition.h.
Referenced by Cognition(), and performFpsMeasure().

unsigned long Cognition::fpsLastMeasureTime [protected]

Definition at line 277 of file Cognition.h.
Referenced by Cognition(), and performFpsMeasure().

bool Cognition::traceStored [protected]

Has a trace already been stored?

Definition at line 281 of file Cognition.h.
Referenced by main().

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

Processes/CMD/Cognition.h
Processes/CMD/Cognition.cpp

Generated on Mon Mar 20 22:11:39 2006 for GT2005 by

1.3.6

Cognition Class Reference

representations

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation