GT2005BasicBehaviorGoToRelativePoint Class Reference

A Basic Behavior for going to a point relative to the current position. More...

#include <GT2005SimpleBasicBehaviors.h>

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Public Member Functions
	GT2005BasicBehaviorGoToRelativePoint (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void	execute ()
	Executes the basic behavior.
Protected Attributes
double	x
	parameter "go-to-relative-point.x"
double	y
	parameter "go-to-relative-point.y"
double	destinationAngle
	parameter "go-to-relative-point.destination-angle"
double	distanceRemain
	parameter "go-to-relative-point.distance-remain"
double	angleRemain
	parameter "go-to-relative-point.angle-remain"
double	maxSpeed
	parameter "go-to-relative-point.max-speed"
double	maxSpeedY
	parameter "go-to-relative-point.max-speed.y"
double	walkType
	parameter "go-to-relative-point.walk-type"
WalkAccelerationRestrictor	accelerationRestrictor
	Restricts the walk acceleration to maximum values.
double	startX
double	startY
double	startRot

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Detailed Description

A Basic Behavior for going to a point relative to the current position.

Author:

Definition at line 318 of file GT2005SimpleBasicBehaviors.h.

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Constructor & Destructor Documentation

GT2005BasicBehaviorGoToRelativePoint::GT2005BasicBehaviorGoToRelativePoint (  BehaviorControlInterfaces &  interfaces, Xabsl2ErrorHandler &  errorHandler )  [inline]

Definition at line 326 of file GT2005SimpleBasicBehaviors.h. References point, and Xabsl2BasicBehavior::registerParameter().

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Member Function Documentation

void GT2005BasicBehaviorGoToRelativePoint::execute (   )  [virtual]

Executes the basic behavior. Implements Xabsl2BasicBehavior. Definition at line 923 of file GT2005SimpleBasicBehaviors.cpp. References Geometry::angleTo(), Geometry::distanceTo(), fromDegrees(), max, min, MotionRequest::motionType, normalize(), Pose2D::rotation, WalkAccelerationRestrictor::saveLastWalkParameters(), startRot, startX, startY, toDegrees(), 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 GT2005BasicBehaviorGoToRelativePoint::x [protected]

parameter "go-to-relative-point.x" Definition at line 345 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToRelativePoint::y [protected]

parameter "go-to-relative-point.y" Definition at line 348 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToRelativePoint::destinationAngle [protected]

parameter "go-to-relative-point.destination-angle" Definition at line 351 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToRelativePoint::distanceRemain [protected]

parameter "go-to-relative-point.distance-remain" Definition at line 354 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToRelativePoint::angleRemain [protected]

parameter "go-to-relative-point.angle-remain" Definition at line 357 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToRelativePoint::maxSpeed [protected]

parameter "go-to-relative-point.max-speed" Definition at line 360 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToRelativePoint::maxSpeedY [protected]

parameter "go-to-relative-point.max-speed.y" Definition at line 363 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToRelativePoint::walkType [protected]

parameter "go-to-relative-point.walk-type" Definition at line 366 of file GT2005SimpleBasicBehaviors.h.

WalkAccelerationRestrictor GT2005BasicBehaviorGoToRelativePoint::accelerationRestrictor [protected]

Restricts the walk acceleration to maximum values. Definition at line 369 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoToRelativePoint::startX [protected]

Definition at line 371 of file GT2005SimpleBasicBehaviors.h. Referenced by execute().

double GT2005BasicBehaviorGoToRelativePoint::startY [protected]

Definition at line 372 of file GT2005SimpleBasicBehaviors.h. Referenced by execute().

double GT2005BasicBehaviorGoToRelativePoint::startRot [protected]

Definition at line 373 of file GT2005SimpleBasicBehaviors.h. Referenced by execute().

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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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