KickLoggerSymbols Class Reference

The Xabsl2 symbols that are defined in "kick-logger-symbols.xml". More...

#include <KickLoggerSymbols.h>

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[legend]List of all members.

Public Member Functions
	KickLoggerSymbols (BehaviorControlInterfaces &interfaces)
void	registerSymbols (Xabsl2Engine &engine)
	registers the symbols at an engine
void	update ()
	updates the symbols
Private Member Functions
Vector2< int >	getBallPosition ()
bool	kickLoggerSave ()
bool	kickLoggerSetBeforeState ()
bool	kickLoggerSetExecuteState ()
bool	kickLoggerSetAfterStateAndCommit ()
double	getWalktoTargetX ()
double	getWalktoTargetY ()
double	getWalktoTargetR ()
void	generateWalktoTarget ()
bool	doExecute ()
bool	isNear ()
double	getTriggerX ()
bool	ballHasStopped ()
double	getKick ()
double	getPropagatedRelativeX ()
bool	ballOutsideArea ()
bool	ceilCamActive ()
Private Attributes
GT2005KickLogger	kickLogger
GT2005KickRecord	currentRecord
double	walktoRotation
Vector2< double >	executeTarget
Vector2< double >	walktoTarget
bool	walktoTargetGenerated
Vector2< double >	lastCeilCamBallPosition
long	lastCeilCamBallPositionTime
Vector2< double >	lastCeilCamData
int	lastCeilCamDataCount
int	executeCounter

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Detailed Description

The Xabsl2 symbols that are defined in "kick-logger-symbols.xml".

Author:

Carsten Schumann

Definition at line 23 of file KickLoggerSymbols.h.

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Constructor & Destructor Documentation

KickLoggerSymbols::KickLoggerSymbols (  BehaviorControlInterfaces &  interfaces  )

Definition at line 11 of file KickLoggerSymbols.cpp.

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Member Function Documentation

void KickLoggerSymbols::registerSymbols (  Xabsl2Engine &  engine  )

registers the symbols at an engine Definition at line 17 of file KickLoggerSymbols.cpp. References ballHasStopped(), ballOutsideArea(), ceilCamActive(), doExecute(), getKick(), getPropagatedRelativeX(), getTriggerX(), getWalktoTargetR(), getWalktoTargetX(), getWalktoTargetY(), isNear(), kickLoggerSave(), kickLoggerSetAfterStateAndCommit(), kickLoggerSetBeforeState(), kickLoggerSetExecuteState(), Xabsl2Symbols::registerBooleanInputSymbol(), and Xabsl2Symbols::registerDecimalInputSymbol(). Referenced by GT2005BehaviorControl::registerSymbolsAndBasicBehaviors().

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void KickLoggerSymbols::update (   )

updates the symbols USE CEILING CAM if ( (this->gtCamWorldState.getBallModel().seen.positionField.x != 0) || (this->gtCamWorldState.getBallModel().seen.positionField.y != 0)){ this->lastCeilCamBallPosition.x=this->gtCamWorldState.getBallModel().seen.positionField.x; this->lastCeilCamBallPosition.y=this->gtCamWorldState.getBallModel().seen.positionField.y; this->lastCeilCamBallPositionTime=SystemCall::getCurrentSystemTime(); if ((this->gtCamWorldState.getBallModel().seen.positionField.x == this->lastCeilCamData.x) && (this->gtCamWorldState.getBallModel().seen.positionField.y == this->lastCeilCamData.y)) { this->lastCeilCamDataCount++; } else { this->lastCeilCamDataCount=0; this->lastCeilCamData.x=this->gtCamWorldState.getBallModel().seen.positionField.x; this->lastCeilCamData.y=this->gtCamWorldState.getBallModel().seen.positionField.y; } } Definition at line 54 of file KickLoggerSymbols.cpp. References BallModel::ballWasSeen, SystemCall::getCurrentSystemTime(), lastCeilCamBallPosition, lastCeilCamBallPositionTime, lastCeilCamData, lastCeilCamDataCount, BallState::positionField, BallModel::seen, Vector2< double >::x, and Vector2< double >::y. Referenced by GT2005BehaviorControl::execute().

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Vector2< int > KickLoggerSymbols::getBallPosition (   )  [private]

Definition at line 280 of file KickLoggerSymbols.cpp. References SystemCall::getCurrentSystemTime(), lastCeilCamBallPosition, lastCeilCamBallPositionTime, Vector2< double >::x, and Vector2< double >::y. Referenced by kickLoggerSetAfterStateAndCommit(), kickLoggerSetBeforeState(), and kickLoggerSetExecuteState().

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bool KickLoggerSymbols::kickLoggerSave (   )  [private]

Definition at line 115 of file KickLoggerSymbols.cpp. References idText, OUTPUT, and GT2005KickLogger::save(). Referenced by registerSymbols().

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bool KickLoggerSymbols::kickLoggerSetBeforeState (   )  [private]

Definition at line 184 of file KickLoggerSymbols.cpp. References GT2005KickRecord::before_ball_translation, GT2005KickRecord::before_robot_rotation, GT2005KickRecord::before_robot_translation, currentRecord, getBallPosition(), idText, OUTPUT, toDegrees(), Pose2D::translation, walktoTargetGenerated, Vector2< double >::x, Vector2< int >::x, Vector2< double >::y, and Vector2< int >::y. Referenced by registerSymbols().

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bool KickLoggerSymbols::kickLoggerSetExecuteState (   )  [private]

Definition at line 206 of file KickLoggerSymbols.cpp. References currentRecord, MotionInfo::executedMotionRequest, Geometry::fieldCoord2Relative(), getBallPosition(), idText, OUTPUT, BallState::positionField, BallModel::propagated, Pose2D::rotation, toDegrees(), Pose2D::translation, WalkRequest::walkParams, MotionRequest::walkRequest, GT2005KickRecord::while_ball_relative_translation, GT2005KickRecord::while_ball_translation, GT2005KickRecord::while_robot_rotation, GT2005KickRecord::while_robot_speed, GT2005KickRecord::while_robot_translation, Vector3< int >::x, Vector2< double >::x, Vector2< int >::x, Vector3< int >::y, Vector2< double >::y, Vector2< int >::y, and Vector3< int >::z. Referenced by registerSymbols().

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bool KickLoggerSymbols::kickLoggerSetAfterStateAndCommit (   )  [private]

Definition at line 240 of file KickLoggerSymbols.cpp. References Vector2< V >::abs(), GT2005KickLogger::addResult(), GT2005KickRecord::after_ball_translation, GT2005KickRecord::after_robot_rotation, GT2005KickRecord::after_robot_translation, Vector2< V >::angle(), GT2005KickRecord::before_ball_translation, currentRecord, GT2005KickRecord::direction, GT2005KickRecord::distance, getBallPosition(), idText, OUTPUT, toDegrees(), Pose2D::translation, GT2005KickRecord::while_robot_rotation, Vector2< double >::x, Vector2< int >::x, Vector2< double >::y, and Vector2< int >::y. Referenced by registerSymbols().

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double KickLoggerSymbols::getWalktoTargetX (   )  [private]

Definition at line 122 of file KickLoggerSymbols.cpp. References generateWalktoTarget(), walktoTarget, walktoTargetGenerated, and Vector2< double >::x. Referenced by registerSymbols().

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double KickLoggerSymbols::getWalktoTargetY (   )  [private]

Definition at line 129 of file KickLoggerSymbols.cpp. References generateWalktoTarget(), walktoTarget, walktoTargetGenerated, and Vector2< double >::y. Referenced by registerSymbols().

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double KickLoggerSymbols::getWalktoTargetR (   )  [private]

Definition at line 136 of file KickLoggerSymbols.cpp. References generateWalktoTarget(), walktoRotation, and walktoTargetGenerated. Referenced by registerSymbols().

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void KickLoggerSymbols::generateWalktoTarget (   )  [private]

Definition at line 166 of file KickLoggerSymbols.cpp. References currentRecord, executeTarget, idText, OUTPUT, BallState::positionRobot, Geometry::relative2FieldCoord(), BallModel::seen, Pose2D::translation, GT2005KickRecord::trigger_relative, walktoRotation, walktoTarget, walktoTargetGenerated, Vector2< int >::x, Vector2< double >::x, Vector2< int >::y, and Vector2< double >::y. Referenced by getWalktoTargetR(), getWalktoTargetX(), and getWalktoTargetY().

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bool KickLoggerSymbols::doExecute (   )  [private]

Definition at line 143 of file KickLoggerSymbols.cpp. References executeCounter, executeTarget, Geometry::fieldCoord2Relative(), idText, OUTPUT, BallState::positionField, BallModel::propagated, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y. Referenced by registerSymbols().

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bool KickLoggerSymbols::isNear (   )  [private]

Definition at line 158 of file KickLoggerSymbols.cpp. References Geometry::fieldCoord2Relative(), BallState::positionField, BallModel::propagated, and Vector2< V >::x. Referenced by registerSymbols().

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double KickLoggerSymbols::getTriggerX (   )  [private]

Definition at line 276 of file KickLoggerSymbols.cpp. References executeTarget, and Vector2< double >::x. Referenced by registerSymbols().

bool KickLoggerSymbols::ballHasStopped (   )  [private]

Definition at line 258 of file KickLoggerSymbols.cpp. References Vector2< double >::abs(), BallModel::seen, and BallState::speedField. Referenced by registerSymbols().

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double KickLoggerSymbols::getKick (   )  [private]

Definition at line 267 of file KickLoggerSymbols.cpp. Referenced by registerSymbols().

double KickLoggerSymbols::getPropagatedRelativeX (   )  [private]

Definition at line 271 of file KickLoggerSymbols.cpp. References Geometry::fieldCoord2Relative(), BallModel::getKnownPosition(), and Vector2< V >::x. Referenced by registerSymbols().

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bool KickLoggerSymbols::ballOutsideArea (   )  [private]

Definition at line 292 of file KickLoggerSymbols.cpp. Referenced by registerSymbols().

bool KickLoggerSymbols::ceilCamActive (   )  [private]

Definition at line 288 of file KickLoggerSymbols.cpp. References lastCeilCamDataCount. Referenced by registerSymbols().

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Member Data Documentation

GT2005KickLogger KickLoggerSymbols::kickLogger [private]

Definition at line 38 of file KickLoggerSymbols.h.

GT2005KickRecord KickLoggerSymbols::currentRecord [private]

Definition at line 40 of file KickLoggerSymbols.h. Referenced by generateWalktoTarget(), kickLoggerSetAfterStateAndCommit(), kickLoggerSetBeforeState(), and kickLoggerSetExecuteState().

double KickLoggerSymbols::walktoRotation [private]

Definition at line 48 of file KickLoggerSymbols.h. Referenced by generateWalktoTarget(), and getWalktoTargetR().

Vector2<double> KickLoggerSymbols::executeTarget [private]

Definition at line 49 of file KickLoggerSymbols.h. Referenced by doExecute(), generateWalktoTarget(), and getTriggerX().

Vector2<double> KickLoggerSymbols::walktoTarget [private]

Definition at line 50 of file KickLoggerSymbols.h. Referenced by generateWalktoTarget(), getWalktoTargetX(), and getWalktoTargetY().

bool KickLoggerSymbols::walktoTargetGenerated [private]

Definition at line 51 of file KickLoggerSymbols.h. Referenced by generateWalktoTarget(), getWalktoTargetR(), getWalktoTargetX(), getWalktoTargetY(), and kickLoggerSetBeforeState().

Vector2<double> KickLoggerSymbols::lastCeilCamBallPosition [private]

Definition at line 56 of file KickLoggerSymbols.h. Referenced by getBallPosition(), and update().

long KickLoggerSymbols::lastCeilCamBallPositionTime [private]

Definition at line 57 of file KickLoggerSymbols.h. Referenced by getBallPosition(), and update().

Vector2<double> KickLoggerSymbols::lastCeilCamData [private]

Definition at line 76 of file KickLoggerSymbols.h. Referenced by update().

int KickLoggerSymbols::lastCeilCamDataCount [private]

Definition at line 77 of file KickLoggerSymbols.h. Referenced by ceilCamActive(), and update().

int KickLoggerSymbols::executeCounter [private]

Definition at line 79 of file KickLoggerSymbols.h. Referenced by doExecute().

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

• Modules/BehaviorControl/GT2005BehaviorControl/GT2005Symbols/KickLoggerSymbols.h
• Modules/BehaviorControl/GT2005BehaviorControl/GT2005Symbols/KickLoggerSymbols.cpp

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