GT2005BasicBehaviorGoToBallWithoutTurning Class Reference

A Basic Behavior for clearing the ball. More...

#include <GT2005SimpleBasicBehaviors.h>

Inheritance diagram for GT2005BasicBehaviorGoToBallWithoutTurning:

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[legend]List of all members.

Public Member Functions
	GT2005BasicBehaviorGoToBallWithoutTurning (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void	execute ()
	Executes the basic behavior.
Private Attributes
double	distanceAtEnd
	parameter "go-to-ball.distance"
double	maxSpeed
	parameter "go-to-ball.max-speed"
double	maxSpeedY
	parameter "go-to-ball.max-speed.y"
WalkAccelerationRestrictor	accelerationRestrictor
	Restricts the walk acceleration to maximum values.
double	targetAngleToBall
	parameter "go-to-ball.target-angle-to-ball"
double	yOffset
	parameter "go-to-ball.y-offset"
double	walkType
	parameter "walk-type"
double	maxTurnSpeed
	parameter "max-turn-speed"

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Detailed Description

A Basic Behavior for clearing the ball.

Author:

Michael Spranger

Matthias Jüngel

Definition at line 206 of file GT2005SimpleBasicBehaviors.h.

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Constructor & Destructor Documentation

GT2005BasicBehaviorGoToBallWithoutTurning::GT2005BasicBehaviorGoToBallWithoutTurning (  BehaviorControlInterfaces &  interfaces, Xabsl2ErrorHandler &  errorHandler )  [inline]

Definition at line 214 of file GT2005SimpleBasicBehaviors.h. References Xabsl2BasicBehavior::registerParameter().

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Member Function Documentation

void GT2005BasicBehaviorGoToBallWithoutTurning::execute (   )  [virtual]

Executes the basic behavior. Implements Xabsl2BasicBehavior. Definition at line 287 of file GT2005SimpleBasicBehaviors.cpp. References Geometry::angleTo(), Geometry::distanceTo(), BallModel::getKnownPosition(), RobotPose::getPose(), MotionRequest::motionType, Vector2< V >::normalize(), Pose2D::rotation, Pose2D::translation, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y.

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Member Data Documentation

double GT2005BasicBehaviorGoToBallWithoutTurning::distanceAtEnd [private]

parameter "go-to-ball.distance" Definition at line 228 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToBallWithoutTurning::maxSpeed [private]

parameter "go-to-ball.max-speed" Definition at line 231 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToBallWithoutTurning::maxSpeedY [private]

parameter "go-to-ball.max-speed.y" Definition at line 234 of file GT2005SimpleBasicBehaviors.h.

WalkAccelerationRestrictor GT2005BasicBehaviorGoToBallWithoutTurning::accelerationRestrictor [private]

Restricts the walk acceleration to maximum values. Definition at line 237 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToBallWithoutTurning::targetAngleToBall [private]

parameter "go-to-ball.target-angle-to-ball" Definition at line 240 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToBallWithoutTurning::yOffset [private]

parameter "go-to-ball.y-offset" Definition at line 243 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToBallWithoutTurning::walkType [private]

parameter "walk-type" Definition at line 246 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToBallWithoutTurning::maxTurnSpeed [private]

parameter "max-turn-speed" Definition at line 249 of file GT2005SimpleBasicBehaviors.h.

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

• Modules/BehaviorControl/GT2005BehaviorControl/GT2005BasicBehaviors/GT2005SimpleBasicBehaviors.h
• Modules/BehaviorControl/GT2005BehaviorControl/GT2005BasicBehaviors/GT2005SimpleBasicBehaviors.cpp

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