GT2005RobotStateDetector Class Reference

#include <GT2005RobotStateDetector.h>

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[legend]List of all members.

Public Member Functions
	GT2005RobotStateDetector (const RobotStateDetectorInterfaces &interfaces)
	Constructor.
virtual void	execute ()
	Executes the module.
Private Types
enum	{   middle = 0, left, right,   robotSides }
enum	{ maxFrameHistory = 200 }
Private Member Functions
void	calculateCollisionState ()
void	setNewButtonStatus ()
int	getCollisionSide ()
	Did collision occur at front left leg.
void	setCollisionOnLeftSide (bool collision)
void	setCollisionOnRightSide (bool collision)
Private Attributes
bool	switchDown [BodyPercept::numOfSwitches]
long	switchDownTime [BodyPercept::numOfSwitches]
long	timeSinceLastCollision [6]
long	consecutiveCollisionTime [6]
long	remindCollision
bool	numOfCollisions [maxFrameHistory][robotSides]
bool	buttonPressed [BodyPercept::numOfSwitches]
long	buttonTime [BodyPercept::numOfSwitches]
long	buttonPressedTime [BodyPercept::numOfSwitches]
long	buttonDuration [BodyPercept::numOfSwitches]
bool	anyBackButtonPressed
long	anyBackButtonTime
long	anyBackButtonPressedTime
long	anyBackButtonDuration

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Member Enumeration Documentation

anonymous enum [private]

Enumeration values: middle  left  right  robotSides  Definition at line 50 of file GT2005RobotStateDetector.h.

anonymous enum [private]

Enumeration values: maxFrameHistory  Definition at line 55 of file GT2005RobotStateDetector.h.

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Constructor & Destructor Documentation

GT2005RobotStateDetector::GT2005RobotStateDetector (  const RobotStateDetectorInterfaces &  interfaces  )

Constructor. Parameters: interfaces  The paramters of the RobotStateDetector module. Definition at line 12 of file GT2005RobotStateDetector.cpp. References consecutiveCollisionTime, maxFrameHistory, numOfCollisions, remindCollision, robotSides, setNewButtonStatus(), switchDown, and timeSinceLastCollision.

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Member Function Documentation

void GT2005RobotStateDetector::execute (   )  [virtual]

Executes the module. Reimplemented from Module. Definition at line 51 of file GT2005RobotStateDetector.cpp. References BodyPercept::acceleration, RobotState::acceleration, calculateCollisionState(), DEBUG_RESPONSE, BodyPercept::frameNumber, RobotState::getAnyBackButtonDuration(), RobotState::getAnyBackButtonPressed(), BodyPercept::getBodyPSDDistance(), BodyPercept::getBodyPSDHighValue(), RobotState::getButtonDuration(), RobotState::getButtonPressed(), SystemCall::getCurrentSystemTime(), BodyPercept::getMouthState(), BodyPercept::getState(), BodyPercept::getSwitches(), SystemCall::getTimeSince(), idText, OUTPUT, RobotState::setDistanceToSIFOC(), RobotState::setFrameNumber(), RobotState::setMouthState(), setNewButtonStatus(), RobotState::setSomethingInFrontOfChest(), RobotState::setState(), RobotState::setTimeWhenSomethingWasInFrontOfChestLast(), switchDown, and switchDownTime.

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void GT2005RobotStateDetector::calculateCollisionState (   )  [private]

Definition at line 187 of file GT2005RobotStateDetector.cpp. References consecutiveCollisionTime, CollisionPercept::getCollisionAggregate(), CollisionPercept::getCollisionFrontLeft(), CollisionPercept::getCollisionFrontRight(), CollisionPercept::getCollisionHead(), CollisionPercept::getCollisionHindLeft(), CollisionPercept::getCollisionHindRight(), getCollisionSide(), SystemCall::getCurrentSystemTime(), CollisionPercept::getOdometryDisturbance(), remindCollision, RobotState::setCollisionAggregate(), RobotState::setCollisionFrontLeft(), RobotState::setCollisionFrontRight(), RobotState::setCollisionHead(), RobotState::setCollisionHindLeft(), RobotState::setCollisionHindRight(), setCollisionOnLeftSide(), setCollisionOnRightSide(), RobotState::setCollisionSide(), RobotState::setConsecutiveCollisionTimeAggregate(), RobotState::setConsecutiveCollisionTimeFrontLeft(), RobotState::setConsecutiveCollisionTimeFrontRight(), RobotState::setConsecutiveCollisionTimeHead(), RobotState::setConsecutiveCollisionTimeHindLeft(), RobotState::setConsecutiveCollisionTimeHindRight(), RobotState::setOdometryDisturbance(), and timeSinceLastCollision. Referenced by execute().

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void GT2005RobotStateDetector::setNewButtonStatus (   )  [private]

Definition at line 175 of file GT2005RobotStateDetector.cpp. References RobotState::setAnyBackButtonDuration(), RobotState::setAnyBackButtonPressed(), RobotState::setAnyBackButtonPressedTime(), RobotState::setAnyBackButtonTime(), RobotState::setButtonDuration(), RobotState::setButtonPressed(), RobotState::setButtonPressedTime(), and RobotState::setButtonTime(). Referenced by execute(), and GT2005RobotStateDetector().

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int GT2005RobotStateDetector::getCollisionSide (   )  [private]

Did collision occur at front left leg. Definition at line 331 of file GT2005RobotStateDetector.cpp. References maxFrameHistory, middle, and numOfCollisions. Referenced by calculateCollisionState().

void GT2005RobotStateDetector::setCollisionOnLeftSide (  bool  collision  )  [private]

Definition at line 347 of file GT2005RobotStateDetector.cpp. References CollisionPercept::frameNumber, maxFrameHistory, and numOfCollisions. Referenced by calculateCollisionState().

void GT2005RobotStateDetector::setCollisionOnRightSide (  bool  collision  )  [private]

Definition at line 352 of file GT2005RobotStateDetector.cpp. References CollisionPercept::frameNumber, maxFrameHistory, and numOfCollisions. Referenced by calculateCollisionState().

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Member Data Documentation

bool GT2005RobotStateDetector::switchDown[BodyPercept::numOfSwitches] [private]

Definition at line 41 of file GT2005RobotStateDetector.h. Referenced by execute(), and GT2005RobotStateDetector().

long GT2005RobotStateDetector::switchDownTime[BodyPercept::numOfSwitches] [private]

Definition at line 42 of file GT2005RobotStateDetector.h. Referenced by execute().

long GT2005RobotStateDetector::timeSinceLastCollision[6] [private]

Definition at line 43 of file GT2005RobotStateDetector.h. Referenced by calculateCollisionState(), and GT2005RobotStateDetector().

long GT2005RobotStateDetector::consecutiveCollisionTime[6] [private]

Definition at line 44 of file GT2005RobotStateDetector.h. Referenced by calculateCollisionState(), and GT2005RobotStateDetector().

long GT2005RobotStateDetector::remindCollision [private]

Definition at line 45 of file GT2005RobotStateDetector.h. Referenced by calculateCollisionState(), and GT2005RobotStateDetector().

bool GT2005RobotStateDetector::numOfCollisions[maxFrameHistory][robotSides] [private]

Definition at line 57 of file GT2005RobotStateDetector.h. Referenced by getCollisionSide(), GT2005RobotStateDetector(), setCollisionOnLeftSide(), and setCollisionOnRightSide().

bool GT2005RobotStateDetector::buttonPressed[BodyPercept::numOfSwitches] [private]

Definition at line 61 of file GT2005RobotStateDetector.h.

long GT2005RobotStateDetector::buttonTime[BodyPercept::numOfSwitches] [private]

Definition at line 62 of file GT2005RobotStateDetector.h.

long GT2005RobotStateDetector::buttonPressedTime[BodyPercept::numOfSwitches] [private]

Definition at line 63 of file GT2005RobotStateDetector.h.

long GT2005RobotStateDetector::buttonDuration[BodyPercept::numOfSwitches] [private]

Definition at line 64 of file GT2005RobotStateDetector.h.

bool GT2005RobotStateDetector::anyBackButtonPressed [private]

Definition at line 65 of file GT2005RobotStateDetector.h.

long GT2005RobotStateDetector::anyBackButtonTime [private]

Definition at line 66 of file GT2005RobotStateDetector.h.

long GT2005RobotStateDetector::anyBackButtonPressedTime [private]

Definition at line 67 of file GT2005RobotStateDetector.h.

long GT2005RobotStateDetector::anyBackButtonDuration [private]

Definition at line 68 of file GT2005RobotStateDetector.h.

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

• Modules/RobotStateDetector/GT2005RobotStateDetector.h
• Modules/RobotStateDetector/GT2005RobotStateDetector.cpp

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