GT2005HeadControl Class Reference

The GT2005 version of the HeadControl module. More...

#include <GT2005HeadControl.h>

Inheritance diagram for GT2005HeadControl:

[legend]Collaboration diagram for GT2005HeadControl:

[legend]List of all members.

Public Types
enum	{ minHeadSpeed = 4000 }
	The minimum head speed in urad per frame: 4000 = 28.6°/s. More...
enum	{   calibrationStateStart, calibrationStateLeft, calibrationStateLeftWait,   calibrationStateRight, calibrationStateRightWait, calibrationStateDownTilt1,   calibrationStateDownTilt1Wait, calibrationStateUpTilt1, calibrationStateUpTilt1Wait,   calibrationStateDownTilt2, calibrationStateDownTilt2Wait, calibrationStateUpTilt2,   calibrationStateUpTilt2Wait, calibrationStateUseResults, calibrationStateReady }
Public Member Functions
	GT2005HeadControl (HeadControlInterfaces &interfaces)
	Constructor.
	~GT2005HeadControl ()
	Destructor.
virtual void	execute ()
	Executes the module.
virtual bool	handleMessage (InMessage &message)
	Is called for every incoming debug message.
virtual void	registerSymbolsAndBasicBehaviors ()
	Registers symbols and basic behaviors at the engine.
bool	headPanIsLeft ()
	Is true, if the head is on the left side.
void	getSensorHeadAngles (Vector3< double > &pos)
	put the sensor values in var pos
double	headPositionDistanceToActualPosition (Vector3< double > comp, bool leftSide)
	returns a distance between actual position and comp.
void	setJoints (double tilt, double pan, double roll, double speed=0, double mouth=0)
	deals with setting the head joints and performs optimizations so that the head does not move too fast angles are in RAD and NOT EVER AGAIN(!!) IN MICRORAD!
void	setJointsDirect (double tilt, double pan, double roll, double mouth=0)
void	simpleLookAtPointRelativeToRobot (const Vector3< double > pos, Vector2< int > offset, double &neckTilt, double &headPan, double &headTilt)
void	simpleLookAtPointOnField (const Vector3< double > pos, Vector2< int > offset, double &neckTilt, double &headPan, double &headTilt)
	Simplified "look at 3d-point" on field with offset point in camera image this is straight-forward for the ERS210, but the ERS7 has two tilt joints that can both be used to look at something.
bool	simpleLookAtPointFixNeckTilt (const Vector3< double > &aim, const double &tilt1, double &headPan, double &headTilt)
	Simplified "look at 3d-point" subroutine trying to find tilt1 solution for given tilt2/roll.
void	lookAtPoint (const Vector3< double > &pos, const Vector2< int > &offset, double &tilt, double &pan, double &roll)
	look at 3d-point on field with offset point in camera image this is straight-forward for the ERS210, but the ERS7 has two tilt joints that can both be used to look at something.
bool	lookAtPointFixHeadTilt (const Vector3< double > &aim, const double &xtan, const double &ytan, double &tilt1, double &pan, const double &tilt2)
	look at 3d-point subroutine trying to find tilt1 solution for given tilt2/roll.
bool	lookAtPointFixNeckTilt (const Vector3< double > &aim, const double &xtan, const double &ytan, const double &tilt, double &pan, double &tilt2)
	look at 3d-point subroutine trying to find tilt2 solution for given tilt1.
int	calculateClosestLandmark (Pose2D pose, double direction, double nextLeftOrRight, bool disregardFieldMarkings=false)
	return the closest landmark w.r.t.
int	calculateClosestLandmark (double direction=0, double nextLeftOrRight=0)
void	aimAtLandmark (int landmark, double &neckTilt, double &headPan, double &headTilt)
	call look-at-point depending on whether the landmark has has a z-dimension the offset in the image is adjusted: landmarks on the ground are aimed at differently from goals and corner posts
void	getLookAtBallAngles (const Vector2< double > ballOnField, double &neckTilt, double &headPan, double &headTilt)
	returns the angles that are good for looking at the ball
void	setupMainAngles ()
	initial the main angles for the head movement
void	calibrateHeadSpeed ()
void	calibrationReset ()
bool	headPositionReached (Vector3< double > pos)
int	getLastSeenBeaconIndex ()
	return the index of the last seen beacon
long	getTimeOfLastSeenBeacon (int index)
	return the time of the last seen beacon
long	getTimeBetweenSeen2LastBeacons (int index)
	return the time between the two last seen beacons
bool	isTimedOut ()
bool	calibrateHeadSpeedIsReady ()
void	searchForBallLeft ()
	looks to the left/right side an aearch for ball.
void	searchForBallRight ()
void	beginBallSearchAt (Vector2< double > ballPosition2d)
	begin a ball search by the given start position
Public Attributes
GT2005HeadPathPlanner	headPathPlanner
	An instance of the head path planner.
bool	lastScanWasLeft
	If true, the last head movement was directed to the left side (of the ball).
HeadControlMode::HeadControlModes	lastHeadControlMode
	The head control mode that was executed in the last frame.
CameraInfo	cameraInfo
	Information about the used camera.
GT2005HeadControlSymbols	symbols
	The symbols used by the Xabsl2Engine.
GT2005HeadControlBasicBehaviors	basicBehaviors
	The basic behaviors used by the Xabsl2Engine.
int	setJointsIsCloseToDestination
	stores the number of frames "setjoints" has been close to its destination
bool	setJointsMaxPanReached
	true if the max pan of the head joint is reached
Vector3< double >	headLeft
	basic headpositions for the gaze
Vector3< double >	headRight
Vector3< double >	headMiddleLeft
Vector3< double >	headMiddleLeftDown
Vector3< double >	headMiddleRight
Vector3< double >	headMiddleRightDown
Vector3< double >	headRightDown
Vector3< double >	headLeftDown
Vector3< double >	headUp
Vector3< double >	headDown
double	speedNeckTilt
	speed in rad/s for head movement.
double	speedHeadPan
double	speedHeadTilt
bool	useCommunicatedBall
enum GT2005HeadControl:: { ... }	calibrationState
long	calibrationTime
int	calibrationTimeOutsTilt1
int	calibrationTimeOutsPan
int	calibrationTimeOutsTilt2
int	calibrationRoundCount
int	calibrationSuccessfulRounds
Private Member Functions
void	showVisualizationQuality ()
Private Attributes
Range< double >	jointRangeNeckTilt
Range< double >	jointRangeHeadPan
Range< double >	jointRangeHeadTilt
OdometryData	lastOdometryData
RobotPose	lastRobotPose

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Detailed Description

The GT2005 version of the HeadControl module.

Author:

Marc Dassler

Jan Hoffmann

Uwe Düffert

Martin Lötzsch

Definition at line 31 of file GT2005HeadControl.h.

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Member Enumeration Documentation

anonymous enum

The minimum head speed in urad per frame: 4000 = 28.6°/s. Enumeration values: minHeadSpeed  Definition at line 84 of file GT2005HeadControl.h.

anonymous enum

Enumeration values: calibrationStateStart  calibrationStateLeft  calibrationStateLeftWait  calibrationStateRight  calibrationStateRightWait  calibrationStateDownTilt1  calibrationStateDownTilt1Wait  calibrationStateUpTilt1  calibrationStateUpTilt1Wait  calibrationStateDownTilt2  calibrationStateDownTilt2Wait  calibrationStateUpTilt2  calibrationStateUpTilt2Wait  calibrationStateUseResults  calibrationStateReady  Definition at line 172 of file GT2005HeadControl.h.

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Constructor & Destructor Documentation

GT2005HeadControl::GT2005HeadControl (  HeadControlInterfaces &  interfaces  )

Constructor. Parameters: interfaces  The paramters of the HeadControl module. Definition at line 26 of file GT2005HeadControl.cpp. References calibrationReset(), CameraInfo::CameraInfo(), SensorData::data, getRobotConfiguration(), RobotConfiguration::getRobotDimensions(), headPathPlanner, GT2005HeadPathPlanner::headPathSpeedHeadPan, GT2005HeadPathPlanner::headPathSpeedHeadTilt, GT2005HeadPathPlanner::headPathSpeedNeckTilt, GTXabsl2EngineExecutor::init(), RobotDimensions::jointLimitHeadPanN, RobotDimensions::jointLimitHeadPanP, RobotDimensions::jointLimitHeadTiltN, RobotDimensions::jointLimitHeadTiltP, RobotDimensions::jointLimitNeckTiltN, RobotDimensions::jointLimitNeckTiltP, jointRangeHeadPan, jointRangeHeadTilt, jointRangeNeckTilt, SensorDataBuffer::lastFrame(), GT2005HeadPathPlanner::lastHeadPan, GT2005HeadPathPlanner::lastHeadTilt, GT2005HeadPathPlanner::lastNeckTilt, setupMainAngles(), speedHeadPan, speedHeadTilt, speedNeckTilt, and useCommunicatedBall.

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GT2005HeadControl::~GT2005HeadControl (   )  [inline]

Destructor. Definition at line 41 of file GT2005HeadControl.h.

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Member Function Documentation

void GT2005HeadControl::execute (   )  [virtual]

Executes the module. Reimplemented from Module. Definition at line 134 of file GT2005HeadControl.cpp. References SensorData::data, DEBUG_RESPONSE, GTXabsl2EngineExecutor::executeEngine(), RobotState::getButtonDuration(), RobotState::getButtonPressed(), HeadControlMode::headControlMode, headPathPlanner, SensorDataBuffer::lastFrame(), lastHeadControlMode, GT2005HeadPathPlanner::lastHeadPan, GT2005HeadPathPlanner::lastHeadTilt, GT2005HeadPathPlanner::lastNeckTilt, GTXabsl2Profiler::profilerCollectMode, GTXabsl2Profiler::profilerWriteMode, PIDData::setToDefaults(), showVisualizationQuality(), symbols, and GT2005HeadControlSymbols::update().

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bool GT2005HeadControl::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 Xabsl2HeadControl. Definition at line 193 of file GT2005HeadControl.cpp. References Xabsl2HeadControl::handleMessage().

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void GT2005HeadControl::registerSymbolsAndBasicBehaviors (   )  [virtual]

Registers symbols and basic behaviors at the engine. Implements GTXabsl2EngineExecutor. Definition at line 128 of file GT2005HeadControl.cpp. References GT2005HeadControlBasicBehaviors::registerBasicBehaviors(), GT2005HeadControlSymbols::registerSymbols(), and symbols.

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bool GT2005HeadControl::headPanIsLeft (   )

Is true, if the head is on the left side. Definition at line 82 of file GT2005HeadControl.cpp. References SensorData::data, and SensorDataBuffer::lastFrame().

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void GT2005HeadControl::getSensorHeadAngles (  Vector3< double > &  pos  )

put the sensor values in var pos Definition at line 87 of file GT2005HeadControl.cpp. References SensorData::data, SensorDataBuffer::lastFrame(), Vector3< V >::x, Vector3< V >::y, and Vector3< V >::z.

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double GT2005HeadControl::headPositionDistanceToActualPosition (  Vector3< double >  comp, bool  leftSide )

returns a distance between actual position and comp. the small results are better Definition at line 120 of file GT2005HeadControl.cpp. References SensorData::data, SensorDataBuffer::lastFrame(), and Vector3< V >::y.

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void GT2005HeadControl::setJoints (  double  tilt, double  pan, double  roll, double  speed = 0, double  mouth = 0 )

deals with setting the head joints and performs optimizations so that the head does not move too fast angles are in RAD and NOT EVER AGAIN(!!) IN MICRORAD! Definition at line 263 of file GT2005HeadControl.cpp. References Vector2< double >::abs(), Vector2< V >::abs(), direction, headPathPlanner, GT2005HeadPathPlanner::headPositionReached(), jointRangeHeadPan, jointRangeHeadTilt, jointRangeNeckTilt, GT2005HeadPathPlanner::lastHeadPan, GT2005HeadPathPlanner::lastHeadTilt, GT2005HeadPathPlanner::lastNeckTilt, Range< double >::limit(), Range< double >::max, HeadMotionRequest::mouth, Vector2< V >::normalize(), HeadMotionRequest::pan, HeadMotionRequest::roll, setJointsIsCloseToDestination, setJointsMaxPanReached, HeadMotionRequest::tilt, Vector2< double >::x, and Vector2< double >::y. Referenced by GT2005BasicBehaviorDirectedScanForObstacles::execute(), and GT2005BasicBehaviorDirectedScanForLandmarks::execute().

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void GT2005HeadControl::setJointsDirect (  double  tilt, double  pan, double  roll, double  mouth = 0 )

Definition at line 251 of file GT2005HeadControl.cpp. References headPathPlanner, jointRangeHeadPan, jointRangeHeadTilt, jointRangeNeckTilt, GT2005HeadPathPlanner::lastHeadPan, GT2005HeadPathPlanner::lastHeadTilt, GT2005HeadPathPlanner::lastNeckTilt, Range< double >::limit(), HeadMotionRequest::mouth, HeadMotionRequest::pan, HeadMotionRequest::roll, HeadMotionRequest::tilt, and toMicroRad().

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void GT2005HeadControl::simpleLookAtPointRelativeToRobot (  const Vector3< double >  pos, Vector2< int >  offset, double &  neckTilt, double &  headPan, double &  headTilt )

Definition at line 361 of file GT2005HeadControl.cpp. References BodyPosture::bodyRollCalculatedFromLegSensors, BodyPosture::bodyTiltCalculatedFromLegSensors, jointRangeHeadPan, jointRangeHeadTilt, jointRangeNeckTilt, Range< T >::limit(), BodyPosture::neckHeightCalculatedFromLegSensors, CameraInfo::openingAngleHeight, CameraInfo::openingAngleWidth, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, RotationMatrix::rotateY(), simpleLookAtPointFixNeckTilt(), Vector2< V >::x, Vector2< V >::y, and Vector3< V >::z. Referenced by getLookAtBallAngles(), and simpleLookAtPointOnField().

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void GT2005HeadControl::simpleLookAtPointOnField (  const Vector3< double >  pos, Vector2< int >  offset, double &  neckTilt, double &  headPan, double &  headTilt )

Simplified "look at 3d-point" on field with offset point in camera image this is straight-forward for the ERS210, but the ERS7 has two tilt joints that can both be used to look at something. Lookatpoint uses the two following methods to find a 'good' solution. transform the targets position to the robot's "coord. system": transform from world to relative coordinates what about the order of the rotations? rotate by the body's rotation(s) Definition at line 413 of file GT2005HeadControl.cpp. References Pose2D::getAngle(), RotationMatrix::rotateZ(), simpleLookAtPointRelativeToRobot(), Pose2D::translation, Vector2< double >::x, Vector3< V >::x, Vector2< double >::y, and Vector3< V >::y. Referenced by aimAtLandmark(), beginBallSearchAt(), and GT2005BasicBehaviorDirectedScanForObstacles::execute().

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bool GT2005HeadControl::simpleLookAtPointFixNeckTilt (  const Vector3< double > &  aim, const double &  tilt1, double &  headPan, double &  headTilt )

Simplified "look at 3d-point" subroutine trying to find tilt1 solution for given tilt2/roll. this is useful on ERS210 and ERS7 Returns: true when matching angles were found transformation from "neck-coord" into cam. coord., i.e. translation by distanceNeckToPanCenter a rotation by the neck-joint Angle followed by get the pan angle from looking at where the target is in the xy plane never mind clipping: if (headPan>=pi) headPan -= pi2; else if (headPan<-pi) headPan += pi2; perform (pan-) rotation on target get the headTilt angle by taking the angle to the target in the XZ-Plane again, no clipping: if (headTilt >= pi) headTilt -= pi2; else if (headTilt < -pi) headTilt += pi2; For debugging: Rotate camera coord. system by the tilt just found. If everything was done correctly, target should have y = z = 0.0 RotationMatrix rotationByHeadTilt; rotationByHeadTilt.rotateY(headTilt); target = rotationByHeadTilt*target; if values are our of bounds, return 0 so a different method can be applied! Definition at line 430 of file GT2005HeadControl.cpp. References RotationMatrix::rotateY(), RotationMatrix::rotateZ(), and Vector3< V >::z. Referenced by simpleLookAtPointRelativeToRobot().

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void GT2005HeadControl::lookAtPoint (  const Vector3< double > &  pos, const Vector2< int > &  offset, double &  tilt, double &  pan, double &  roll )

look at 3d-point on field with offset point in camera image this is straight-forward for the ERS210, but the ERS7 has two tilt joints that can both be used to look at something. Lookatpoint uses the two following methods to find a 'good' solution.

bool GT2005HeadControl::lookAtPointFixHeadTilt (  const Vector3< double > &  aim, const double &  xtan, const double &  ytan, double &  tilt1, double &  pan, const double &  tilt2 )

look at 3d-point subroutine trying to find tilt1 solution for given tilt2/roll. this is useful on ERS210 and ERS7 Returns: true when matching angles were found

bool GT2005HeadControl::lookAtPointFixNeckTilt (  const Vector3< double > &  aim, const double &  xtan, const double &  ytan, const double &  tilt, double &  pan, double &  tilt2 )

look at 3d-point subroutine trying to find tilt2 solution for given tilt1. this is only useful on ERS7 Returns: true when matching angles were found

int GT2005HeadControl::calculateClosestLandmark (  Pose2D  pose, double  direction, double  nextLeftOrRight, bool  disregardFieldMarkings = false )

return the closest landmark w.r.t. a given direction; also, the next landmark to the left (or right) can be calculated. a pose can be specified; if it is not specified, the robot pose is used Parameters: disregard...  is used to toggle whether landmarks or landmarks AND field markings are used Definition at line 465 of file GT2005HeadControl.cpp. References Vector2< V >::abs(), Vector2< V >::angle(), CIRCLE, LINE, normalize(), Pose2D::rotation, sgn, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y. Referenced by calculateClosestLandmark(), and GT2005BasicBehaviorDirectedScanForLandmarks::execute().

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int GT2005HeadControl::calculateClosestLandmark (  double  direction = 0, double  nextLeftOrRight = 0 )

Definition at line 460 of file GT2005HeadControl.cpp. References calculateClosestLandmark().

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void GT2005HeadControl::aimAtLandmark (  int  landmark, double &  neckTilt, double &  headPan, double &  headTilt )

call look-at-point depending on whether the landmark has has a z-dimension the offset in the image is adjusted: landmarks on the ground are aimed at differently from goals and corner posts Definition at line 322 of file GT2005HeadControl.cpp. References CameraInfo::resolutionHeight, and simpleLookAtPointOnField(). Referenced by GT2005BasicBehaviorDirectedScanForLandmarks::execute().

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void GT2005HeadControl::getLookAtBallAngles (  const Vector2< double >  ballOnField, double &  neckTilt, double &  headPan, double &  headTilt )

returns the angles that are good for looking at the ball Definition at line 342 of file GT2005HeadControl.cpp. References Vector2< V >::abs(), Geometry::fieldCoord2Relative(), Range< T >::limit(), CameraInfo::resolutionHeight, simpleLookAtPointRelativeToRobot(), Vector2< V >::x, and Vector2< V >::y.

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void GT2005HeadControl::setupMainAngles (   )

initial the main angles for the head movement Definition at line 522 of file GT2005HeadControl.cpp. References headDown, headLeftDown, headMiddleLeft, headMiddleLeftDown, headMiddleRight, headMiddleRightDown, headRightDown, headUp, Vector3< double >::x, Vector3< double >::y, and Vector3< double >::z. Referenced by GT2005HeadControl().

void GT2005HeadControl::calibrateHeadSpeed (   )

Definition at line 566 of file GT2005HeadControl.cpp. References calibrationRoundCount, calibrationState, calibrationStateDownTilt1, calibrationStateDownTilt1Wait, calibrationStateDownTilt2, calibrationStateDownTilt2Wait, calibrationStateLeft, calibrationStateLeftWait, calibrationStateReady, calibrationStateRight, calibrationStateRightWait, calibrationStateStart, calibrationStateUpTilt1, calibrationStateUpTilt1Wait, calibrationStateUpTilt2, calibrationStateUpTilt2Wait, calibrationStateUseResults, calibrationSuccessfulRounds, calibrationTime, calibrationTimeOutsPan, calibrationTimeOutsTilt1, calibrationTimeOutsTilt2, SystemCall::getCurrentSystemTime(), SystemCall::getTimeSince(), headPathPlanner, GT2005HeadPathPlanner::headPathSpeedHeadPan, GT2005HeadPathPlanner::headPathSpeedHeadTilt, GT2005HeadPathPlanner::headPathSpeedNeckTilt, headPositionReached(), headUp, idText, GT2005HeadPathPlanner::init(), GT2005HeadPathPlanner::isLastPathFinished(), isTimedOut(), OUTPUT, speedHeadPan, speedHeadTilt, speedNeckTilt, Vector3< V >::x, Vector3< V >::y, and Vector3< V >::z.

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void GT2005HeadControl::calibrationReset (   )  [inline]

Definition at line 195 of file GT2005HeadControl.h. References calibrationState, calibrationStateStart, calibrationTimeOutsPan, calibrationTimeOutsTilt1, and calibrationTimeOutsTilt2. Referenced by GT2005HeadControl().

bool GT2005HeadControl::headPositionReached (  Vector3< double >  pos  )  [inline]

Definition at line 203 of file GT2005HeadControl.h. References headPathPlanner, and GT2005HeadPathPlanner::headPositionReached(). Referenced by calibrateHeadSpeed().

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int GT2005HeadControl::getLastSeenBeaconIndex (   )

return the index of the last seen beacon Definition at line 68 of file GT2005HeadControl.cpp. References LandmarksState::lastSeenBeaconIndex(). Referenced by GT2005HeadControlSymbols::update().

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long GT2005HeadControl::getTimeOfLastSeenBeacon (  int  index  )

return the time of the last seen beacon Definition at line 72 of file GT2005HeadControl.cpp. References LandmarksState::timeOfLastSeenBeacon(). Referenced by GT2005HeadControlSymbols::getTimeSinceLastSeenABeacon().

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long GT2005HeadControl::getTimeBetweenSeen2LastBeacons (  int  index  )

return the time between the two last seen beacons Definition at line 77 of file GT2005HeadControl.cpp. References LandmarksState::timeBetweenSeen2LastBeacons(). Referenced by GT2005HeadControlSymbols::getTimeBetweenSeen2LastBeacons().

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bool GT2005HeadControl::isTimedOut (   )  [inline]

Definition at line 218 of file GT2005HeadControl.h. References calibrationTime, and SystemCall::getTimeSince(). Referenced by calibrateHeadSpeed().

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bool GT2005HeadControl::calibrateHeadSpeedIsReady (   )  [inline]

Definition at line 223 of file GT2005HeadControl.h. References calibrationState, and calibrationStateReady.

void GT2005HeadControl::searchForBallLeft (   )

looks to the left/right side an aearch for ball. Used for kicks Definition at line 107 of file GT2005HeadControl.cpp. References headDown, headMiddleLeft, headPathPlanner, GT2005HeadPathPlanner::init(), and lastScanWasLeft.

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void GT2005HeadControl::searchForBallRight (   )

Definition at line 94 of file GT2005HeadControl.cpp. References headDown, headMiddleRight, headPathPlanner, GT2005HeadPathPlanner::init(), and lastScanWasLeft.

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void GT2005HeadControl::beginBallSearchAt (  Vector2< double >  ballPosition2d  )

begin a ball search by the given start position Definition at line 199 of file GT2005HeadControl.cpp. References headDown, headLeftDown, headMiddleLeft, headMiddleLeftDown, headMiddleRight, headMiddleRightDown, headPathPlanner, headRightDown, headUp, GT2005HeadPathPlanner::init(), lastScanWasLeft, normalize(), Pose2D::rotation, simpleLookAtPointOnField(), Pose2D::translation, Vector2< V >::x, and Vector2< V >::y.

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void GT2005HeadControl::showVisualizationQuality (   )  [private]

Definition at line 174 of file GT2005HeadControl.cpp. References RobotPose::getPositionVariance(), HeadControlMode::headControlMode, MODIFY, and HeadMotionRequest::mouth. Referenced by execute().

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Member Data Documentation

GT2005HeadPathPlanner GT2005HeadControl::headPathPlanner

An instance of the head path planner. Definition at line 57 of file GT2005HeadControl.h. Referenced by beginBallSearchAt(), calibrateHeadSpeed(), execute(), GT2005HeadControlSymbols::getLastHeadPathIsFinished(), GT2005HeadControl(), headPositionReached(), searchForBallLeft(), searchForBallRight(), setJoints(), and setJointsDirect().

bool GT2005HeadControl::lastScanWasLeft

If true, the last head movement was directed to the left side (of the ball). Definition at line 60 of file GT2005HeadControl.h. Referenced by beginBallSearchAt(), searchForBallLeft(), and searchForBallRight().

HeadControlMode::HeadControlModes GT2005HeadControl::lastHeadControlMode

The head control mode that was executed in the last frame. Definition at line 72 of file GT2005HeadControl.h. Referenced by execute().

CameraInfo GT2005HeadControl::cameraInfo

Information about the used camera. Definition at line 75 of file GT2005HeadControl.h.

GT2005HeadControlSymbols GT2005HeadControl::symbols

The symbols used by the Xabsl2Engine. Definition at line 78 of file GT2005HeadControl.h. Referenced by execute(), and registerSymbolsAndBasicBehaviors().

GT2005HeadControlBasicBehaviors GT2005HeadControl::basicBehaviors

The basic behaviors used by the Xabsl2Engine. Definition at line 81 of file GT2005HeadControl.h.

int GT2005HeadControl::setJointsIsCloseToDestination

stores the number of frames "setjoints" has been close to its destination Definition at line 138 of file GT2005HeadControl.h. Referenced by GT2005HeadControlSymbols::getSetJointsIsCloseToDestination(), and setJoints().

bool GT2005HeadControl::setJointsMaxPanReached

true if the max pan of the head joint is reached Definition at line 141 of file GT2005HeadControl.h. Referenced by GT2005HeadControlSymbols::getSetJointsMaxPanReached(), and setJoints().

Vector3<double> GT2005HeadControl::headLeft

basic headpositions for the gaze Definition at line 148 of file GT2005HeadControl.h.

Vector3<double> GT2005HeadControl::headRight

Definition at line 149 of file GT2005HeadControl.h.

Vector3<double> GT2005HeadControl::headMiddleLeft

Definition at line 150 of file GT2005HeadControl.h. Referenced by beginBallSearchAt(), searchForBallLeft(), and setupMainAngles().

Vector3<double> GT2005HeadControl::headMiddleLeftDown

Definition at line 151 of file GT2005HeadControl.h. Referenced by beginBallSearchAt(), and setupMainAngles().

Vector3<double> GT2005HeadControl::headMiddleRight

Definition at line 152 of file GT2005HeadControl.h. Referenced by beginBallSearchAt(), searchForBallRight(), and setupMainAngles().

Vector3<double> GT2005HeadControl::headMiddleRightDown

Definition at line 153 of file GT2005HeadControl.h. Referenced by beginBallSearchAt(), and setupMainAngles().

Vector3<double> GT2005HeadControl::headRightDown

Definition at line 154 of file GT2005HeadControl.h. Referenced by beginBallSearchAt(), and setupMainAngles().

Vector3<double> GT2005HeadControl::headLeftDown

Definition at line 155 of file GT2005HeadControl.h. Referenced by beginBallSearchAt(), and setupMainAngles().

Vector3<double> GT2005HeadControl::headUp

Definition at line 156 of file GT2005HeadControl.h. Referenced by beginBallSearchAt(), calibrateHeadSpeed(), and setupMainAngles().

Vector3<double> GT2005HeadControl::headDown

Definition at line 157 of file GT2005HeadControl.h. Referenced by beginBallSearchAt(), searchForBallLeft(), searchForBallRight(), and setupMainAngles().

double GT2005HeadControl::speedNeckTilt

speed in rad/s for head movement. its used for headpathplanner and the calibration Definition at line 160 of file GT2005HeadControl.h. Referenced by calibrateHeadSpeed(), and GT2005HeadControl().

double GT2005HeadControl::speedHeadPan

Definition at line 161 of file GT2005HeadControl.h. Referenced by calibrateHeadSpeed(), and GT2005HeadControl().

double GT2005HeadControl::speedHeadTilt

Definition at line 162 of file GT2005HeadControl.h. Referenced by calibrateHeadSpeed(), and GT2005HeadControl().

bool GT2005HeadControl::useCommunicatedBall

Definition at line 170 of file GT2005HeadControl.h. Referenced by GT2005HeadControl().

enum { ... } GT2005HeadControl::calibrationState

Referenced by calibrateHeadSpeed(), calibrateHeadSpeedIsReady(), and calibrationReset().

long GT2005HeadControl::calibrationTime

Definition at line 191 of file GT2005HeadControl.h. Referenced by calibrateHeadSpeed(), and isTimedOut().

int GT2005HeadControl::calibrationTimeOutsTilt1

Definition at line 192 of file GT2005HeadControl.h. Referenced by calibrateHeadSpeed(), and calibrationReset().

int GT2005HeadControl::calibrationTimeOutsPan

Definition at line 192 of file GT2005HeadControl.h. Referenced by calibrateHeadSpeed(), and calibrationReset().

int GT2005HeadControl::calibrationTimeOutsTilt2

Definition at line 192 of file GT2005HeadControl.h. Referenced by calibrateHeadSpeed(), and calibrationReset().

int GT2005HeadControl::calibrationRoundCount

Definition at line 193 of file GT2005HeadControl.h. Referenced by calibrateHeadSpeed().

int GT2005HeadControl::calibrationSuccessfulRounds

Definition at line 193 of file GT2005HeadControl.h. Referenced by calibrateHeadSpeed().

Range<double> GT2005HeadControl::jointRangeNeckTilt [private]

Definition at line 237 of file GT2005HeadControl.h. Referenced by GT2005HeadControl(), setJoints(), setJointsDirect(), and simpleLookAtPointRelativeToRobot().

Range<double> GT2005HeadControl::jointRangeHeadPan [private]

Definition at line 237 of file GT2005HeadControl.h. Referenced by GT2005HeadControl(), setJoints(), setJointsDirect(), and simpleLookAtPointRelativeToRobot().

Range<double> GT2005HeadControl::jointRangeHeadTilt [private]

Definition at line 237 of file GT2005HeadControl.h. Referenced by GT2005HeadControl(), setJoints(), setJointsDirect(), and simpleLookAtPointRelativeToRobot().

OdometryData GT2005HeadControl::lastOdometryData [private]

Definition at line 240 of file GT2005HeadControl.h.

RobotPose GT2005HeadControl::lastRobotPose [private]

Definition at line 241 of file GT2005HeadControl.h.

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

• Modules/HeadControl/GT2005HeadControl/GT2005HeadControl.h
• Modules/HeadControl/GT2005HeadControl/GT2005HeadControl.cpp

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