GT2005BasicBehaviorDirectedScanForLandmarks Class Reference

The basic behavior "directed-scan-for-landmarks". More...

Inheritance diagram for GT2005BasicBehaviorDirectedScanForLandmarks:

[legend]Collaboration diagram for GT2005BasicBehaviorDirectedScanForLandmarks:


Public Member Functions
	GT2005BasicBehaviorDirectedScanForLandmarks (Xabsl2ErrorHandler &errorHandler, HeadControlInterfaces &interfaces, GT2005HeadControl &headControl, GT2005HeadPathPlanner &headPathPlanner, bool &lastScanWasLeft, CameraInfo &cameraInfo)
	Constructor.
virtual void	execute ()
	Executes the basic behavior.
Public Attributes
bool	nextLandmarkIsWithinReach
Private Attributes
double	leftOrRight
int	currentLandmark
int	nextLandmark
int	waitSomeBeforeLookingAtNextLandmark

Detailed Description

The basic behavior "directed-scan-for-landmarks".

GT2005BasicBehaviorDirectedScanForLandmarks::GT2005BasicBehaviorDirectedScanForLandmarks ( Xabsl2ErrorHandler & errorHandler,

HeadControlInterfaces & interfaces,

GT2005HeadControl & headControl,

GT2005HeadPathPlanner & headPathPlanner,

bool & lastScanWasLeft,

CameraInfo & cameraInfo

) [inline]

Constructor.

Definition at line 157 of file GT2005HeadControlBasicBehaviors.h.

void GT2005BasicBehaviorDirectedScanForLandmarks::execute ( ) [virtual]

Executes the basic behavior.

alternate scan direction whenever basic behavior is called for the first time
The following calculates the closest landmark and compares it to the one that the scan is currently aiming at. If the closest is further in the direction of the scan, it is used as the new target. If it is in the opposite direction, it is not used to guarantee a stable head movement
reset variables when a new scan is started
if a landmark is found to be closest that is not the one the robot is currently aiming at, store the ID in nextLandmark but don't change the target yet.
the following functions as a delay so that the robot continues to look at a landmark for a brief period of time before aiming at the next
calculate the XABSL input symbol "nextLandmarkIsWithinReach"
Implements GT2005HeadControlBasicBehavior.
Definition at line 251 of file GT2005HeadControlBasicBehaviors.cpp.
References GT2005HeadControl::aimAtLandmark(), Geometry::angleTo(), GT2005HeadControl::calculateClosestLandmark(), CIRCLE, currentLandmark, DEBUG_DRAWING_FINISHED, RobotDimensions::jointLimitHeadPanP, GT2005HeadPathPlanner::lastHeadPan, nextLandmark, nextLandmarkIsWithinReach, CameraInfo::openingAngleWidth, GT2005HeadControl::setJoints(), waitSomeBeforeLookingAtNextLandmark, and Vector2< V >::y.