KickLogger Class Reference

Runs in parallel to a xabsl behavior control and logs the preconditions and results of each kick. More...

#include <KickLogger.h>

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[legend]List of all members.

Public Member Functions
	KickLogger (BehaviorControlInterfaces &interfaces)
	Constructor.
	~KickLogger ()
	destructor
void	execute ()
	Executes the logger.
Private Types
enum	State {   initial, kickRequested, kickStarted,   kickFinished, waitingForBall, wait }
	Different states of the shoot logger. More...
Private Member Functions
void	changeState (State newState)
	Changes the state of the logger.
void	record ()
	Writes a collected record if requested by a debug key to the debug message queue.
double	getBallX (Pose2D from)
	Returns the relative x position of a ball position.
double	getBallY (Pose2D from)
	Returns the relative y position of a ball position.
Private Attributes
State	state
	The state of the logger.
unsigned long	timeOfLastStateChange
	The time of the last state change.
KickCase	kick
	The kick record.
SpecialActionRequest::SpecialActionID	kickID
	The requested kick.
OdometryData	odometryDataWhenKickWasStarted
	The odometry data when the kick was started.

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Detailed Description

Runs in parallel to a xabsl behavior control and logs the preconditions and results of each kick.

Author:

Martin Lötzsch

Definition at line 25 of file KickLogger.h.

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Member Enumeration Documentation

enum KickLogger::State [private]

Different states of the shoot logger. Enumeration values: initial  kickRequested  kickStarted  kickFinished  waitingForBall  wait  Definition at line 42 of file KickLogger.h.

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Constructor & Destructor Documentation

KickLogger::KickLogger (  BehaviorControlInterfaces &  interfaces  )

Constructor. Parameters: interfaces  The paramters of the BehaviorControl module. Definition at line 14 of file KickLogger.cpp.

KickLogger::~KickLogger (   )

destructor Definition at line 20 of file KickLogger.cpp.

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Member Function Documentation

void KickLogger::execute (   )

Executes the logger. Definition at line 24 of file KickLogger.cpp. References ASSERT, KickCase::ballTR, KickCase::ballTS, KickCase::ballXA, KickCase::ballXR, KickCase::ballXS, KickCase::ballYA, KickCase::ballYR, KickCase::ballYS, changeState(), Geometry::distanceTo(), MotionInfo::executedMotionRequest, GTCamWorldState::getBallModel(), getBallX(), getBallY(), RobotPose::getPose(), SystemCall::getTimeSince(), kickFinished, kickRequested, kickStarted, Pose2D::minusDiff(), MotionRequest::motionType, odometryDataWhenKickWasStarted, BallState::positionField, BallState::positionRobot, record(), BallModel::seen, MotionRequest::specialActionRequest, SpecialActionRequest::specialActionType, KickCase::tA, timeOfLastStateChange, SeenBallState::timeWhenLastSeen, wait, waitingForBall, and Vector2< double >::x. Referenced by GT2005BehaviorControl::execute().

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void KickLogger::changeState (  State  newState  )  [private]

Changes the state of the logger. Definition at line 125 of file KickLogger.cpp. References SystemCall::getCurrentSystemTime(), State, and timeOfLastStateChange. Referenced by execute().

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void KickLogger::record (   )  [private]

Writes a collected record if requested by a debug key to the debug message queue. Definition at line 132 of file KickLogger.cpp. References idKickRecord, and INFO. Referenced by execute().

double KickLogger::getBallX (  Pose2D  from  )  [private]

Returns the relative x position of a ball position. Definition at line 113 of file KickLogger.cpp. References Geometry::distanceTo(), BallState::positionField, and BallModel::seen. Referenced by execute().

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double KickLogger::getBallY (  Pose2D  from  )  [private]

Returns the relative y position of a ball position. Definition at line 119 of file KickLogger.cpp. References Geometry::distanceTo(), BallState::positionField, and BallModel::seen. Referenced by execute().

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Member Data Documentation

State KickLogger::state [private]

The state of the logger. Definition at line 46 of file KickLogger.h.

unsigned long KickLogger::timeOfLastStateChange [private]

The time of the last state change. Definition at line 52 of file KickLogger.h. Referenced by changeState(), and execute().

KickCase KickLogger::kick [private]

The kick record. Definition at line 61 of file KickLogger.h.

SpecialActionRequest::SpecialActionID KickLogger::kickID [private]

The requested kick. Definition at line 64 of file KickLogger.h.

OdometryData KickLogger::odometryDataWhenKickWasStarted [private]

The odometry data when the kick was started. Definition at line 67 of file KickLogger.h. Referenced by execute().

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

• Modules/BehaviorControl/KickLogger.h
• Modules/BehaviorControl/KickLogger.cpp

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