GT2005BasicBehaviorGoToInterceptionPoint Class Reference

A Basic Behavior for going to a the ball-interception-point on the field. More...

#include <GT2005SimpleBasicBehaviors.h>

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Public Member Functions
	GT2005BasicBehaviorGoToInterceptionPoint (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void	execute ()
	Executes the basic behavior.
Private Attributes
double	x
	parameter "interception-point.x"
double	y
	parameter "interception-point.y"
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	yOffset
	parameter "go-to-ball.y-offset"
double	walkType
	parameter "walk-type"
double	maxTurnSpeed
	parameter "max-turn-speed"
double	angleFactor
	parameter "go-to-ball.angle-factor"
double	slowDownDistance
	parameter "go-to-ball.slow-down-distance"

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Detailed Description

A Basic Behavior for going to a the ball-interception-point on the field.

Author:

Christine Zarges

Thorsten Kerkhof

Definition at line 438 of file GT2005SimpleBasicBehaviors.h.

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Constructor & Destructor Documentation

GT2005BasicBehaviorGoToInterceptionPoint::GT2005BasicBehaviorGoToInterceptionPoint (  BehaviorControlInterfaces &  interfaces, Xabsl2ErrorHandler &  errorHandler )  [inline]

Definition at line 446 of file GT2005SimpleBasicBehaviors.h. References point, and Xabsl2BasicBehavior::registerParameter().

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Member Function Documentation

void GT2005BasicBehaviorGoToInterceptionPoint::execute (   )  [virtual]

Executes the basic behavior. Implements Xabsl2BasicBehavior. Definition at line 1095 of file GT2005SimpleBasicBehaviors.cpp. References Geometry::angleTo(), Geometry::distanceTo(), fromDegrees(), max, min, MotionRequest::motionType, Vector2< V >::normalize(), pi, 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 GT2005BasicBehaviorGoToInterceptionPoint::x [private]

parameter "interception-point.x" Definition at line 469 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToInterceptionPoint::y [private]

parameter "interception-point.y" Definition at line 472 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToInterceptionPoint::distanceAtEnd [private]

parameter "go-to-ball.distance" Definition at line 475 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToInterceptionPoint::maxSpeed [private]

parameter "go-to-ball.max-speed" Definition at line 478 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToInterceptionPoint::maxSpeedY [private]

parameter "go-to-ball.max-speed.y" Definition at line 481 of file GT2005SimpleBasicBehaviors.h.

WalkAccelerationRestrictor GT2005BasicBehaviorGoToInterceptionPoint::accelerationRestrictor [private]

Restricts the walk acceleration to maximum values. Definition at line 484 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToInterceptionPoint::yOffset [private]

parameter "go-to-ball.y-offset" Definition at line 487 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToInterceptionPoint::walkType [private]

parameter "walk-type" Definition at line 490 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToInterceptionPoint::maxTurnSpeed [private]

parameter "max-turn-speed" Definition at line 493 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToInterceptionPoint::angleFactor [private]

parameter "go-to-ball.angle-factor" Definition at line 496 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToInterceptionPoint::slowDownDistance [private]

parameter "go-to-ball.slow-down-distance" Definition at line 499 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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