GT2005BasicBehaviorGoalieReturnToGoal Class Reference

A Basic Behavior for returning the goalie to the center of its goal. More...

#include <GT2005SimpleBasicBehaviors.h>

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Public Member Functions
	GT2005BasicBehaviorGoalieReturnToGoal (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
virtual void	execute ()
	Executes the basic behavior.
Protected Attributes
double	x
	parameter "goalie-return-to-goal.x"
double	y
	parameter "goalie-return-to-goal.y"
double	maxSpeed
	parameter "goalie-return-to-goal.max-speed"
WalkAccelerationRestrictor	accelerationRestrictor
	Restricts the walk acceleration to maximum values.

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Detailed Description

A Basic Behavior for returning the goalie to the center of its goal.

Author:

Tim Laue

Definition at line 738 of file GT2005SimpleBasicBehaviors.h.

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Constructor & Destructor Documentation

GT2005BasicBehaviorGoalieReturnToGoal::GT2005BasicBehaviorGoalieReturnToGoal (  BehaviorControlInterfaces &  interfaces, Xabsl2ErrorHandler &  errorHandler )  [inline]

Definition at line 746 of file GT2005SimpleBasicBehaviors.h. References Xabsl2BasicBehavior::registerParameter().

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Member Function Documentation

void GT2005BasicBehaviorGoalieReturnToGoal::execute (   )  [virtual]

Executes the basic behavior. Implements Xabsl2BasicBehavior. Definition at line 493 of file GT2005SimpleBasicBehaviors.cpp. References Geometry::angleTo(), fromDegrees(), BallModel::getKnownPosition(), SystemCall::getTimeSince(), MotionRequest::motionType, WalkAccelerationRestrictor::restrictAccelerations(), Pose2D::rotation, WalkAccelerationRestrictor::saveLastWalkParameters(), BallModel::seen, SeenBallState::timeWhenLastSeen, toDegrees(), Pose2D::translation, WalkRequest::walkParams, MotionRequest::walkRequest, and WalkRequest::walkType.

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Member Data Documentation

double GT2005BasicBehaviorGoalieReturnToGoal::x [protected]

parameter "goalie-return-to-goal.x" Definition at line 762 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoalieReturnToGoal::y [protected]

parameter "goalie-return-to-goal.y" Definition at line 765 of file GT2005SimpleBasicBehaviors.h.

double GT2005BasicBehaviorGoalieReturnToGoal::maxSpeed [protected]

parameter "goalie-return-to-goal.max-speed" Definition at line 768 of file GT2005SimpleBasicBehaviors.h.

WalkAccelerationRestrictor GT2005BasicBehaviorGoalieReturnToGoal::accelerationRestrictor [protected]

Restricts the walk acceleration to maximum values. Definition at line 771 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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