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GT2005WalkCalibrationMainBehavior Class Reference

#include <GT2005WalkCalibrationBasicBehaviors.h>

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List of all members.

Public Member Functions

 GT2005WalkCalibrationMainBehavior (BehaviorControlInterfaces &interfaces, Xabsl2ErrorHandler &errorHandler)
void registerSymbols (Xabsl2Engine &engine)
virtual void execute ()
 Executes the basic behavior.


Private Types

enum  ResultCodes {
  resultUnready = 0, resultReady = 1, resultMeasure = 2,
  resultReposition = 3, resultInteraction = 4
}
enum  State {
  stateNotInitialized, stateMeasureStart, stateMeasure,
  stateMeasureFinished, stateCalibrationFinished
}
enum  MeasureStatus { before, measuring, end }

Private Member Functions

Pose2D calculateStartPose (const Pose2D &base)
void Initialize ()
void Measure ()
void removeExtreme (bool *pBadIndex, bool removeMaximum)

Static Private Member Functions

double minDistanceToBorder (Vector2< double > &t)

Private Attributes

double initializeParameter
double rotationParameter
Pose2D startPose
double startPoseAngle
bool startPoseCalculated
int startPoseBadCount
double initializationTime
int measureCount
char filename [20]
int qCount
double qSum
double result
double measureStartTime
double measureStopTime
double tempTime
double startOffset
double measureDuration
double stopOffset
Vector2< double > translationStartPoint
Vector2< double > translationStopPoint
Vector2< double > test
double rotationStartAngle
double rotationStopAngle
double rotationTemp
double measureStartTime0
double measureStopTime0
Vector2< double > translationStartPoint0
Vector2< double > translationStopPoint0
double rotationStartAngle0
double rotationStopAngle0
double walkingDirection
int currentTable
int currentPoint
int currentRotation
int robotColor
int robotNumber
OdometryPoint measurePoints [measureSize]
int tempPoseCount
Pose2D tempPose [50]
double tempTimeStart
double tempTimeStop
Pose2D camRobotPose
double camTimestamp
int robotNotDetectedCount
Vector2< double > center
 center of the camera

State state
MeasureStatus measureStatus

Static Private Attributes

const int measureSize = 195

Member Enumeration Documentation

enum GT2005WalkCalibrationMainBehavior::ResultCodes [private]
 

Enumeration values:
resultUnready 
resultReady 
resultMeasure 
resultReposition 
resultInteraction 

Definition at line 30 of file GT2005WalkCalibrationBasicBehaviors.h.

enum GT2005WalkCalibrationMainBehavior::State [private]
 

Enumeration values:
stateNotInitialized 
stateMeasureStart 
stateMeasure 
stateMeasureFinished 
stateCalibrationFinished 

Definition at line 80 of file GT2005WalkCalibrationBasicBehaviors.h.

enum GT2005WalkCalibrationMainBehavior::MeasureStatus [private]
 

Enumeration values:
before 
measuring 
end 

Definition at line 91 of file GT2005WalkCalibrationBasicBehaviors.h.

Constructor & Destructor Documentation

GT2005WalkCalibrationMainBehavior::GT2005WalkCalibrationMainBehavior (  BehaviorControlInterfaces &  interfaces,
Xabsl2ErrorHandler &  errorHandler
) 
 

Definition at line 11 of file GT2005WalkCalibrationBasicBehaviors.cpp.

References initializeParameter, Xabsl2BasicBehavior::registerParameter(), resultUnready, rotationParameter, startPoseCalculated, stateNotInitialized, and tempPoseCount.

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Member Function Documentation

Pose2D GT2005WalkCalibrationMainBehavior::calculateStartPose (  const Pose2D &  base  )  [private]
 

Definition at line 506 of file GT2005WalkCalibrationBasicBehaviors.cpp.

References camRobotPose, min, minDistanceToBorder(), NCIRCLE, NCROSS, pi, Pose2D::rotation, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.

Referenced by execute().

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double GT2005WalkCalibrationMainBehavior::minDistanceToBorder (  Vector2< double > &  t  )  [static, private]
 

Definition at line 491 of file GT2005WalkCalibrationBasicBehaviors.cpp.

References min, Vector2< V >::x, and Vector2< V >::y.

Referenced by calculateStartPose().

void GT2005WalkCalibrationMainBehavior::Initialize (   )  [private]
 

Definition at line 148 of file GT2005WalkCalibrationBasicBehaviors.cpp.

References before, GT2005WalkCalibrationMainBehavior::OdometryPoint::controlled, currentPoint, currentRotation, currentTable, InStream< InFile, InBinary >::eof(), InFile::exists(), SystemCall::getCurrentSystemTime(), getPlayer(), Player::getPlayerNumber(), Player::getTeamColor(), idText, initializationTime, measureCount, GT2005WalkCalibrationMainBehavior::OdometryPoint::measured, measureDuration, measurePoints, measureSize, measureStatus, OUTPUT, pi, resultReady, robotColor, robotNumber, rotationParameter, startOffset, startPoseBadCount, stateMeasureStart, stopOffset, Vector2< double >::x, and Vector2< double >::y.

Referenced by execute().

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void GT2005WalkCalibrationMainBehavior::Measure (   )  [private]
 

Definition at line 236 of file GT2005WalkCalibrationBasicBehaviors.cpp.

References before, camRobotPose, camTimestamp, GT2005WalkCalibrationMainBehavior::OdometryPoint::controlled, currentPoint, SystemCall::getCurrentSystemTime(), idText, initializationTime, measureCount, GT2005WalkCalibrationMainBehavior::OdometryPoint::measured, measureDuration, measurePoints, measureSize, measureStartTime, measureStartTime0, measureStatus, measureStopTime, measureStopTime0, measuring, MotionRequest::motionType, normalize(), OUTPUT, qCount, qSum, removeExtreme(), resultInteraction, resultMeasure, resultReposition, resultUnready, Pose2D::rotation, rotationStartAngle, rotationStartAngle0, rotationStopAngle, rotationStopAngle0, rotationTemp, startOffset, startPoseBadCount, startPoseCalculated, stateCalibrationFinished, stateMeasure, stateMeasureFinished, stateMeasureStart, stateNotInitialized, tempPose, tempPoseCount, tempTime, tempTimeStart, tempTimeStop, Pose2D::translation, translationStartPoint, translationStartPoint0, translationStopPoint, translationStopPoint0, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y.

Referenced by execute().

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void GT2005WalkCalibrationMainBehavior::removeExtreme (  bool *  pBadIndex,
bool  removeMaximum
)  [private]
 

Definition at line 25 of file GT2005WalkCalibrationBasicBehaviors.cpp.

References tempPose, and tempPoseCount.

Referenced by Measure().

void GT2005WalkCalibrationMainBehavior::registerSymbols (  Xabsl2Engine &  engine  ) 
 

Definition at line 581 of file GT2005WalkCalibrationBasicBehaviors.cpp.

References Xabsl2Symbols::registerDecimalInputSymbol(), startPose, startPoseAngle, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.

Referenced by GT2005WalkCalibrationBasicBehaviors::registerBasicBehaviors().

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void GT2005WalkCalibrationMainBehavior::execute (   )  [virtual]
 

Executes the basic behavior.

Implements Xabsl2BasicBehavior.

Definition at line 62 of file GT2005WalkCalibrationBasicBehaviors.cpp.

References calculateStartPose(), camRobotPose, camTimestamp, currentPoint, SystemCall::getCurrentSystemTime(), GTCamWorldState::getRobotPose(), GTCamWorldState::getTimestamp(), idText, Initialize(), initializeParameter, Measure(), measurePoints, OUTPUT, resultInteraction, resultReposition, robotColor, robotNotDetectedCount, robotNumber, Pose2D::rotation, startPose, startPoseAngle, startPoseBadCount, startPoseCalculated, stateMeasureStart, tempPose, tempPoseCount, toDegrees(), Pose2D::translation, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y.

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Member Data Documentation

double GT2005WalkCalibrationMainBehavior::initializeParameter [private]
 

Definition at line 15 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by execute(), and GT2005WalkCalibrationMainBehavior().

double GT2005WalkCalibrationMainBehavior::rotationParameter [private]
 

Definition at line 16 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by GT2005WalkCalibrationMainBehavior(), and Initialize().

Pose2D GT2005WalkCalibrationMainBehavior::startPose [private]
 

Definition at line 18 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by execute(), and registerSymbols().

double GT2005WalkCalibrationMainBehavior::startPoseAngle [private]
 

Definition at line 19 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by execute(), and registerSymbols().

bool GT2005WalkCalibrationMainBehavior::startPoseCalculated [private]
 

Definition at line 20 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by execute(), GT2005WalkCalibrationMainBehavior(), and Measure().

int GT2005WalkCalibrationMainBehavior::startPoseBadCount [private]
 

Definition at line 21 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by execute(), Initialize(), and Measure().

double GT2005WalkCalibrationMainBehavior::initializationTime [private]
 

Definition at line 22 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Initialize(), and Measure().

int GT2005WalkCalibrationMainBehavior::measureCount [private]
 

Definition at line 23 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Initialize(), and Measure().

char GT2005WalkCalibrationMainBehavior::filename[20] [private]
 

Definition at line 24 of file GT2005WalkCalibrationBasicBehaviors.h.

int GT2005WalkCalibrationMainBehavior::qCount [private]
 

Definition at line 26 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

double GT2005WalkCalibrationMainBehavior::qSum [private]
 

Definition at line 27 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

double GT2005WalkCalibrationMainBehavior::result [private]
 

Definition at line 29 of file GT2005WalkCalibrationBasicBehaviors.h.

double GT2005WalkCalibrationMainBehavior::measureStartTime [private]
 

Definition at line 42 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

double GT2005WalkCalibrationMainBehavior::measureStopTime [private]
 

Definition at line 42 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

double GT2005WalkCalibrationMainBehavior::tempTime [private]
 

Definition at line 42 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

double GT2005WalkCalibrationMainBehavior::startOffset [private]
 

Definition at line 43 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Initialize(), and Measure().

double GT2005WalkCalibrationMainBehavior::measureDuration [private]
 

Definition at line 43 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Initialize(), and Measure().

double GT2005WalkCalibrationMainBehavior::stopOffset [private]
 

Definition at line 43 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Initialize().

Vector2<double> GT2005WalkCalibrationMainBehavior::translationStartPoint [private]
 

Definition at line 44 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

Vector2<double> GT2005WalkCalibrationMainBehavior::translationStopPoint [private]
 

Definition at line 44 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

Vector2<double> GT2005WalkCalibrationMainBehavior::test [private]
 

Definition at line 44 of file GT2005WalkCalibrationBasicBehaviors.h.

double GT2005WalkCalibrationMainBehavior::rotationStartAngle [private]
 

Definition at line 45 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

double GT2005WalkCalibrationMainBehavior::rotationStopAngle [private]
 

Definition at line 45 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

double GT2005WalkCalibrationMainBehavior::rotationTemp [private]
 

Definition at line 45 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

double GT2005WalkCalibrationMainBehavior::measureStartTime0 [private]
 

Definition at line 47 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

double GT2005WalkCalibrationMainBehavior::measureStopTime0 [private]
 

Definition at line 47 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

Vector2<double> GT2005WalkCalibrationMainBehavior::translationStartPoint0 [private]
 

Definition at line 48 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

Vector2<double> GT2005WalkCalibrationMainBehavior::translationStopPoint0 [private]
 

Definition at line 48 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

double GT2005WalkCalibrationMainBehavior::rotationStartAngle0 [private]
 

Definition at line 49 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

double GT2005WalkCalibrationMainBehavior::rotationStopAngle0 [private]
 

Definition at line 49 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

double GT2005WalkCalibrationMainBehavior::walkingDirection [private]
 

Definition at line 51 of file GT2005WalkCalibrationBasicBehaviors.h.

int GT2005WalkCalibrationMainBehavior::currentTable [private]
 

Definition at line 52 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Initialize().

int GT2005WalkCalibrationMainBehavior::currentPoint [private]
 

Definition at line 52 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by execute(), Initialize(), and Measure().

int GT2005WalkCalibrationMainBehavior::currentRotation [private]
 

Definition at line 52 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Initialize().

int GT2005WalkCalibrationMainBehavior::robotColor [private]
 

Definition at line 53 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by execute(), and Initialize().

int GT2005WalkCalibrationMainBehavior::robotNumber [private]
 

Definition at line 53 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by execute(), and Initialize().

const int GT2005WalkCalibrationMainBehavior::measureSize = 195 [static, private]
 

Definition at line 61 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Initialize(), and Measure().

OdometryPoint GT2005WalkCalibrationMainBehavior::measurePoints[measureSize] [private]
 

Definition at line 66 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by execute(), Initialize(), and Measure().

int GT2005WalkCalibrationMainBehavior::tempPoseCount [private]
 

Definition at line 67 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by execute(), GT2005WalkCalibrationMainBehavior(), Measure(), and removeExtreme().

Pose2D GT2005WalkCalibrationMainBehavior::tempPose[50] [private]
 

Definition at line 68 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by execute(), Measure(), and removeExtreme().

double GT2005WalkCalibrationMainBehavior::tempTimeStart [private]
 

Definition at line 69 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

double GT2005WalkCalibrationMainBehavior::tempTimeStop [private]
 

Definition at line 69 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Measure().

Pose2D GT2005WalkCalibrationMainBehavior::camRobotPose [private]
 

Definition at line 71 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by calculateStartPose(), execute(), and Measure().

double GT2005WalkCalibrationMainBehavior::camTimestamp [private]
 

Definition at line 72 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by execute(), and Measure().

int GT2005WalkCalibrationMainBehavior::robotNotDetectedCount [private]
 

Definition at line 73 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by execute().

Vector2<double> GT2005WalkCalibrationMainBehavior::center [private]
 

center of the camera

Definition at line 77 of file GT2005WalkCalibrationBasicBehaviors.h.

State GT2005WalkCalibrationMainBehavior::state [private]
 

Definition at line 89 of file GT2005WalkCalibrationBasicBehaviors.h.

MeasureStatus GT2005WalkCalibrationMainBehavior::measureStatus [private]
 

Definition at line 98 of file GT2005WalkCalibrationBasicBehaviors.h.

Referenced by Initialize(), and Measure().

The documentation for this class was generated from the following files:
Generated on Mon Mar 20 22:15:42 2006 for GT2005 by doxygen 1.3.6