GT2005BehaviorControl Class Reference

A Behavior based on the Xabsl2Engine that is used by GermanTeam for the RoboCup 2005. More...

#include <GT2005BehaviorControl.h>

Inheritance diagram for GT2005BehaviorControl:

[legend]Collaboration diagram for GT2005BehaviorControl:

[legend]List of all members.

Public Member Functions
	GT2005BehaviorControl (BehaviorControlInterfaces &interfaces)
	Constructor.
	~GT2005BehaviorControl ()
	destructor
virtual void	registerSymbolsAndBasicBehaviors ()
	Registers symbols and basic behaviors at the engine.
void	preExecute ()
	Sets some varibles for leds and sound before the execution of the engine.
virtual void	execute ()
	Executes the module.
void	postExecute ()
	Sets some variables for head motion and sound after the execution of the engine.
void	drawOptions ()
	paints some debug drawings that visualize the current option activation path
void	declareDrawingsForBasicBehaviors ()
	declares all debug drawings for basic behaviors
virtual bool	handleMessage (InMessage &message)
	Is called for every incoming debug message.
Private Attributes
KickLogger	kickLogger
bool	quickStop
	If quickStop is true, the robot just stands.
bool	timeSync
	If timeSync is true, the robot stands and waits for sync with remote cam.
bool	syncTimestampSent
	timestamp sent
unsigned char	initialBrightness
	estimated Brightness on timeSync reset
int	faceInfo
	information to show on face during timesync
bool	backFrontWasPressed
	true if backFront was pressed during timesync
int	timeSyncHeadControlMode
	HeadControlMode during timesync.
bool	backBackWasPressed
	true if backBack was pressed during timesync
HeadControlMode	debugHeadControlMode
	Indicates which HeadControlMode is set, when the robot is demobilized (quick stop).
unsigned char	IP
	the last part of the own IP
Symbols
CalibrationSymbols	calibrationSymbols
AngleSymbols	angleSymbols
BallSymbols	ballSymbols
GT2005ConfigurationSymbols	configurationSymbols
HeadAndTailSymbols	headAndTailSymbols
JoystickSymbols	joystickSymbols
LEDAndSoundSymbols	ledAndSoundSymbols
KickSelectionSymbols	kickSelectionSymbols
MathFunctions	mathFunctions
MotionRequestSymbols	motionRequestSymbols
ObstaclesSymbols	obstaclesSymbols
RoboCupGameManagerSymbols	roboCupGameManagerSymbols
RobotPoseSymbols	robotPoseSymbols
RobotStateSymbols	robotStateSymbols
SpecialVisionSymbols	specialVisionSymbols
GT2005StrategySymbols	strategySymbols
ChallengeSymbols	challengeSymbols
OpenChallengeSymbols	openchallengeSymbols
GTCamSymbols	gtCamSymbols
FieldSymbols	fieldSymbols
KickLoggerSymbols	kickLoggerSymbols
PassSymbols	passSymbols
PlayersSymbols	playersSymbols
TestSymbols	testSymbols
Basic Behaviors
GT2005SimpleBasicBehaviors	simpleBasicBehaviors
GT2005PotentialFieldBasicBehaviors	potentialFieldBasicBehaviors
CommonBasicBehaviors	commonBasicBehaviors
GT2005WalkCalibrationBasicBehaviors	gt2005WalkCalibrationBasicBehaviors

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Detailed Description

A Behavior based on the Xabsl2Engine that is used by GermanTeam for the RoboCup 2005.

Author:

Martin Lötzsch

Matthias Jüngel

Definition at line 56 of file GT2005BehaviorControl.h.

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Constructor & Destructor Documentation

GT2005BehaviorControl::GT2005BehaviorControl (  BehaviorControlInterfaces &  interfaces  )

Constructor. Parameters: interfaces  The paramters of the BehaviorControl module. Definition at line 15 of file GT2005BehaviorControl.cpp. References ASSERT, backBackWasPressed, backFrontWasPressed, InFile::exists(), faceInfo, GTXabsl2EngineExecutor::init(), initialBrightness, IP, quickStop, syncTimestampSent, timeSync, and timeSyncHeadControlMode.

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GT2005BehaviorControl::~GT2005BehaviorControl (   )

destructor Definition at line 78 of file GT2005BehaviorControl.cpp.

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Member Function Documentation

void GT2005BehaviorControl::registerSymbolsAndBasicBehaviors (   )  [virtual]

Registers symbols and basic behaviors at the engine. Implements GTXabsl2EngineExecutor. Definition at line 82 of file GT2005BehaviorControl.cpp. References angleSymbols, ballSymbols, calibrationSymbols, challengeSymbols, commonBasicBehaviors, configurationSymbols, fieldSymbols, gt2005WalkCalibrationBasicBehaviors, gtCamSymbols, headAndTailSymbols, joystickSymbols, kickLoggerSymbols, kickSelectionSymbols, ledAndSoundSymbols, mathFunctions, motionRequestSymbols, obstaclesSymbols, openchallengeSymbols, passSymbols, playersSymbols, potentialFieldBasicBehaviors, GT2005WalkCalibrationBasicBehaviors::registerBasicBehaviors(), CommonBasicBehaviors::registerBasicBehaviors(), GT2005PotentialFieldBasicBehaviors::registerBasicBehaviors(), GT2005SimpleBasicBehaviors::registerBasicBehaviors(), TestSymbols::registerSymbols(), PassSymbols::registerSymbols(), PlayersSymbols::registerSymbols(), KickLoggerSymbols::registerSymbols(), FieldSymbols::registerSymbols(), ChallengeSymbols::registerSymbols(), OpenChallengeSymbols::registerSymbols(), GT2005StrategySymbols::registerSymbols(), SpecialVisionSymbols::registerSymbols(), RobotStateSymbols::registerSymbols(), RobotPoseSymbols::registerSymbols(), RoboCupGameManagerSymbols::registerSymbols(), ObstaclesSymbols::registerSymbols(), MotionRequestSymbols::registerSymbols(), MathFunctions::registerSymbols(), KickSelectionSymbols::registerSymbols(), LEDAndSoundSymbols::registerSymbols(), JoystickSymbols::registerSymbols(), HeadAndTailSymbols::registerSymbols(), GT2005ConfigurationSymbols::registerSymbols(), GTCamSymbols::registerSymbols(), BallSymbols::registerSymbols(), AngleSymbols::registerSymbols(), CalibrationSymbols::registerSymbols(), roboCupGameManagerSymbols, robotPoseSymbols, robotStateSymbols, simpleBasicBehaviors, specialVisionSymbols, strategySymbols, and testSymbols.

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void GT2005BehaviorControl::preExecute (   )

Sets some varibles for leds and sound before the execution of the engine. Definition at line 114 of file GT2005BehaviorControl.cpp. References AngleSymbols::angleShownByLEDs, angleSymbols, LEDRequest::backFrontWhiteLED, LEDRequest::backMiddleOrangeLED, LEDRequest::backMiddleWhiteLED, LEDRequest::backRearWhiteLED, BallModel::ballWasSeen, BallModel::communicated, LEDRequest::faceLED, SystemCall::getTimeSince(), HeadControlMode::headControlMode, LEDRequest::headOrangeLED, LEDRequest::headWhiteLED, BehaviorTeamMessage::message, BallModel::seen, SoundRequest::soundID, MotionRequest::tailRequest, TailRequest::tailRequestID, CommunicatedBallState::timeWhenLastObserved, and SeenBallState::timeWhenLastSeen. Referenced by execute().

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void GT2005BehaviorControl::execute (   )  [virtual]

Executes the module. Reimplemented from Module. Definition at line 156 of file GT2005BehaviorControl.cpp. References angleSymbols, ballSymbols, configurationSymbols, declareDrawingsForBasicBehaviors(), drawOptions(), KickLogger::execute(), GTXabsl2EngineExecutor::executeEngine(), kickLogger, kickLoggerSymbols, obstaclesSymbols, openchallengeSymbols, postExecute(), potentialFieldBasicBehaviors, preExecute(), roboCupGameManagerSymbols, robotPoseSymbols, strategySymbols, testSymbols, KickLoggerSymbols::update(), GT2005PotentialFieldBasicBehaviors::update(), TestSymbols::update(), OpenChallengeSymbols::update(), GT2005StrategySymbols::update(), RobotPoseSymbols::update(), RoboCupGameManagerSymbols::update(), ObstaclesSymbols::update(), GT2005ConfigurationSymbols::update(), BallSymbols::update(), and AngleSymbols::update().

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void GT2005BehaviorControl::postExecute (   )

Sets some variables for head motion and sound after the execution of the engine. Definition at line 187 of file GT2005BehaviorControl.cpp. References Vector2< double >::abs(), AngleSymbols::angleShownByLEDs, angleSymbols, AngleSymbols::angleUsedForPerfectAngle, backBackWasPressed, LEDRequest::backFrontBlueLED, backFrontWasPressed, LEDRequest::backFrontWhiteLED, LEDRequest::backMiddleOrangeLED, LEDRequest::backMiddleWhiteLED, LEDRequest::backRearRedLED, LEDRequest::backRearWhiteLED, BallState::ballRollsByLeft, BallState::ballRollsByRight, BallState::ballRollsFast, BallState::ballRollsTowardsRobot, BallModel::ballWasSeen, SensorData::data, DEBUG_RESPONSE, debugHeadControlMode, SpecialPercept::estimatedImageBrightness, MotionInfo::executedMotionRequest, faceInfo, LEDRequest::faceLED, SensorDataBuffer::frame, BehaviorTeamMessage::gameState, AngleSymbols::getAngle(), RobotState::getButtonDuration(), RobotState::getButtonPressed(), SystemCall::getCurrentSystemTime(), getPlayer(), Player::getPlayerNumber(), SystemCall::getRemainingPower(), RobotState::getState(), Player::getTeamColor(), RobotPose::getValidity(), HeadControlMode::headControlMode, idSyncTimestampRobot, initialBrightness, IP, SensorDataBuffer::lastFrame(), min, MotionRequest::motionType, normalize(), OUTPUT, BallState::positionField, GTXabsl2Profiler::profilerCollectMode, GTXabsl2Profiler::profilerWriteMode, quickStop, GT2005StrategySymbols::role, BallModel::seen, SoundRequest::soundID, SpecialVisionRequest::specialVisionRequest, strategySymbols, syncTimestampSent, timeSync, timeSyncHeadControlMode, toDegrees(), MotionRequest::walkRequest, and WalkRequest::walkType. Referenced by execute().

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void GT2005BehaviorControl::drawOptions (   )

paints some debug drawings that visualize the current option activation path Definition at line 818 of file GT2005BehaviorControl.cpp. References Xabsl2Option::activeState, ChallengeSymbols::challenge2TargetPositionX(), ChallengeSymbols::challenge2TargetPositionY(), challengeSymbols, RobotPose::getPose(), Xabsl2Engine::getRootOption(), Xabsl2NamedItem::n, NCIRCLE, NCOMPLEX_DRAWING, NDECLARE_DEBUGDRAWING, NLINE, NRECTANGLE, Xabsl2State::subsequentOption, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y. Referenced by execute().

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void GT2005BehaviorControl::declareDrawingsForBasicBehaviors (   )

declares all debug drawings for basic behaviors Definition at line 909 of file GT2005BehaviorControl.cpp. References NDECLARE_DEBUGDRAWING. Referenced by execute().

bool GT2005BehaviorControl::handleMessage (  InMessage &  message  )  [virtual]

Is called for every incoming debug message. Parameters: message  An interface to read the message from the queue Returns: if the messag was read Reimplemented from Xabsl2BehaviorControl. Definition at line 916 of file GT2005BehaviorControl.cpp. References KickSelectionSymbols::handleMessage(), Xabsl2BehaviorControl::handleMessage(), and kickSelectionSymbols.

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Member Data Documentation

CalibrationSymbols GT2005BehaviorControl::calibrationSymbols [private]

Definition at line 96 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

AngleSymbols GT2005BehaviorControl::angleSymbols [private]

Definition at line 97 of file GT2005BehaviorControl.h. Referenced by execute(), postExecute(), preExecute(), and registerSymbolsAndBasicBehaviors().

BallSymbols GT2005BehaviorControl::ballSymbols [private]

Definition at line 98 of file GT2005BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

GT2005ConfigurationSymbols GT2005BehaviorControl::configurationSymbols [private]

Definition at line 99 of file GT2005BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

HeadAndTailSymbols GT2005BehaviorControl::headAndTailSymbols [private]

Definition at line 100 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

JoystickSymbols GT2005BehaviorControl::joystickSymbols [private]

Definition at line 101 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

LEDAndSoundSymbols GT2005BehaviorControl::ledAndSoundSymbols [private]

Definition at line 102 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

KickSelectionSymbols GT2005BehaviorControl::kickSelectionSymbols [private]

Definition at line 103 of file GT2005BehaviorControl.h. Referenced by handleMessage(), and registerSymbolsAndBasicBehaviors().

MathFunctions GT2005BehaviorControl::mathFunctions [private]

Definition at line 104 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

MotionRequestSymbols GT2005BehaviorControl::motionRequestSymbols [private]

Definition at line 105 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

ObstaclesSymbols GT2005BehaviorControl::obstaclesSymbols [private]

Definition at line 106 of file GT2005BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

RoboCupGameManagerSymbols GT2005BehaviorControl::roboCupGameManagerSymbols [private]

Definition at line 107 of file GT2005BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

RobotPoseSymbols GT2005BehaviorControl::robotPoseSymbols [private]

Definition at line 108 of file GT2005BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

RobotStateSymbols GT2005BehaviorControl::robotStateSymbols [private]

Definition at line 109 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

SpecialVisionSymbols GT2005BehaviorControl::specialVisionSymbols [private]

Definition at line 110 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

GT2005StrategySymbols GT2005BehaviorControl::strategySymbols [private]

Definition at line 111 of file GT2005BehaviorControl.h. Referenced by execute(), postExecute(), and registerSymbolsAndBasicBehaviors().

ChallengeSymbols GT2005BehaviorControl::challengeSymbols [private]

Definition at line 112 of file GT2005BehaviorControl.h. Referenced by drawOptions(), and registerSymbolsAndBasicBehaviors().

OpenChallengeSymbols GT2005BehaviorControl::openchallengeSymbols [private]

Definition at line 113 of file GT2005BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

GTCamSymbols GT2005BehaviorControl::gtCamSymbols [private]

Definition at line 114 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

FieldSymbols GT2005BehaviorControl::fieldSymbols [private]

Definition at line 115 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

KickLoggerSymbols GT2005BehaviorControl::kickLoggerSymbols [private]

Definition at line 116 of file GT2005BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

PassSymbols GT2005BehaviorControl::passSymbols [private]

Definition at line 117 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

PlayersSymbols GT2005BehaviorControl::playersSymbols [private]

Definition at line 118 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

TestSymbols GT2005BehaviorControl::testSymbols [private]

Definition at line 119 of file GT2005BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

GT2005SimpleBasicBehaviors GT2005BehaviorControl::simpleBasicBehaviors [private]

Definition at line 124 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

GT2005PotentialFieldBasicBehaviors GT2005BehaviorControl::potentialFieldBasicBehaviors [private]

Definition at line 125 of file GT2005BehaviorControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

CommonBasicBehaviors GT2005BehaviorControl::commonBasicBehaviors [private]

Definition at line 126 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

GT2005WalkCalibrationBasicBehaviors GT2005BehaviorControl::gt2005WalkCalibrationBasicBehaviors [private]

Definition at line 127 of file GT2005BehaviorControl.h. Referenced by registerSymbolsAndBasicBehaviors().

KickLogger GT2005BehaviorControl::kickLogger [private]

Definition at line 135 of file GT2005BehaviorControl.h. Referenced by execute().

bool GT2005BehaviorControl::quickStop [private]

If quickStop is true, the robot just stands. Definition at line 138 of file GT2005BehaviorControl.h. Referenced by GT2005BehaviorControl(), and postExecute().

bool GT2005BehaviorControl::timeSync [private]

If timeSync is true, the robot stands and waits for sync with remote cam. Definition at line 141 of file GT2005BehaviorControl.h. Referenced by GT2005BehaviorControl(), and postExecute().

bool GT2005BehaviorControl::syncTimestampSent [private]

timestamp sent Definition at line 144 of file GT2005BehaviorControl.h. Referenced by GT2005BehaviorControl(), and postExecute().

unsigned char GT2005BehaviorControl::initialBrightness [private]

estimated Brightness on timeSync reset Definition at line 147 of file GT2005BehaviorControl.h. Referenced by GT2005BehaviorControl(), and postExecute().

int GT2005BehaviorControl::faceInfo [private]

information to show on face during timesync Definition at line 150 of file GT2005BehaviorControl.h. Referenced by GT2005BehaviorControl(), and postExecute().

bool GT2005BehaviorControl::backFrontWasPressed [private]

true if backFront was pressed during timesync Definition at line 153 of file GT2005BehaviorControl.h. Referenced by GT2005BehaviorControl(), and postExecute().

int GT2005BehaviorControl::timeSyncHeadControlMode [private]

HeadControlMode during timesync. Definition at line 156 of file GT2005BehaviorControl.h. Referenced by GT2005BehaviorControl(), and postExecute().

bool GT2005BehaviorControl::backBackWasPressed [private]

true if backBack was pressed during timesync Definition at line 159 of file GT2005BehaviorControl.h. Referenced by GT2005BehaviorControl(), and postExecute().

HeadControlMode GT2005BehaviorControl::debugHeadControlMode [private]

Indicates which HeadControlMode is set, when the robot is demobilized (quick stop). Definition at line 162 of file GT2005BehaviorControl.h. Referenced by postExecute().

unsigned char GT2005BehaviorControl::IP [private]

the last part of the own IP Definition at line 165 of file GT2005BehaviorControl.h. Referenced by GT2005BehaviorControl(), and postExecute().

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

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

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