RobotPoseSymbols Class Reference

The Xabsl2 symbols that are defined in "robot-pose-symbols.xml". More...

#include <RobotPoseSymbols.h>

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[legend]List of all members.

Input symbols, more input symbols are actually registered than shown here (see .cpp file!)
double	getAngleToCenterOfField ()
double	getAngle ()
double	getPositionStandardDeviation ()
double	getAngleToBorder ()
double	getDistanceToBorder ()
double	getDistanceToOwnGoal ()
double	getDistanceToOwnPenaltyArea ()
double	getDistanceToOpponentGoal ()
double	getDefensiveSupporterRobotPoseY ()
double	getStrikerRobotPoseY ()
double	updateGoalieDefendPosition ()
double	getGoalieDefendAngle ()
double	getGoalieDefendPosY ()
double	getGoalieDefendPosX ()
double	getGoalieDefendStepPosX ()
double	getGoalieDefendStepPosY ()
double	getGoalieDefendStepAngle ()
double	calculateSpeedFactorFromRobotPositionStandardDeviation ()
void	computeGoalieDefendMinPos (const double &alpha, const RobotDimensions &rD)
double	ballPosX
double	ballPosY
Public Member Functions
	RobotPoseSymbols (const BehaviorControlInterfaces &interfaces)
void	registerSymbols (Xabsl2Engine &engine)
	registers the symbols at an engine
void	update ()
	updates the symbols
Private Types
enum	Angles {   angleToCenterOfField, goalieGoalKickAngle, bestAngleToOpponentGoal,   bestAngleToOpponentGoalNoObstacles, angleToPointBehindOpponentGoal, bestAngleAwayFromOwnGoal,   bestAngleAwayFromOwnGoalNoObstacles, numberOfAngles }
	The angle that is shown by the top white LEDs. More...
Private Member Functions
void	calculateAngles ()
Private Attributes
Angles	angleShownByLEDs
double	angles [numberOfAngles]
double	goalieDefendAngle
double	goalieDefendPositionX
double	goalieDefendPositionY
double	goalieDefendStepPosX
double	goalieDefendStepPosY
double	goalieDefendStepAngle
double	goalieDefendRadiusMax
double	goalieDefendRadiusMin
double	goalieDefendMinPosX
double	goalieDefendMinPosY
double	goalieDefendRadius

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Detailed Description

The Xabsl2 symbols that are defined in "robot-pose-symbols.xml".

Author:

Martin Lötzsch

Definition at line 22 of file RobotPoseSymbols.h.

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Member Enumeration Documentation

enum RobotPoseSymbols::Angles [private]

The angle that is shown by the top white LEDs. Enumeration values: angleToCenterOfField  goalieGoalKickAngle  bestAngleToOpponentGoal  bestAngleToOpponentGoalNoObstacles  angleToPointBehindOpponentGoal  bestAngleAwayFromOwnGoal  bestAngleAwayFromOwnGoalNoObstacles  numberOfAngles  Definition at line 66 of file RobotPoseSymbols.h.

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Constructor & Destructor Documentation

RobotPoseSymbols::RobotPoseSymbols (  const BehaviorControlInterfaces &  interfaces  )

Definition at line 15 of file RobotPoseSymbols.cpp.

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Member Function Documentation

void RobotPoseSymbols::registerSymbols (  Xabsl2Engine &  engine  )

registers the symbols at an engine Definition at line 21 of file RobotPoseSymbols.cpp. References ballPosX, ballPosY, calculateSpeedFactorFromRobotPositionStandardDeviation(), getAngle(), getAngleToBorder(), getDefensiveSupporterRobotPoseY(), getDistanceToBorder(), getDistanceToOpponentGoal(), getDistanceToOwnGoal(), getDistanceToOwnPenaltyArea(), getGoalieDefendAngle(), getGoalieDefendPosX(), getGoalieDefendPosY(), getGoalieDefendStepAngle(), getGoalieDefendStepPosX(), getGoalieDefendStepPosY(), getPositionStandardDeviation(), RobotPose::getPositionVariance(), getStrikerRobotPoseY(), RobotPose::getValidity(), Xabsl2Symbols::registerDecimalInputFunction(), Xabsl2Symbols::registerDecimalInputFunctionParameter(), Xabsl2Symbols::registerDecimalInputSymbol(), Pose2D::translation, updateGoalieDefendPosition(), Vector2< double >::x, and Vector2< double >::y. Referenced by GT2005BehaviorControl::registerSymbolsAndBasicBehaviors().

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void RobotPoseSymbols::update (   )

updates the symbols Definition at line 75 of file RobotPoseSymbols.cpp. Referenced by GT2005BehaviorControl::execute().

double RobotPoseSymbols::getAngleToCenterOfField (   )

calculates the value for the symbol "robot-pose.best-angle-away-from-own-goal"

double RobotPoseSymbols::getAngle (   )

A function for the symbol "robot-pose.angle" Definition at line 84 of file RobotPoseSymbols.cpp. References Pose2D::rotation, and toDegrees(). Referenced by registerSymbols().

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double RobotPoseSymbols::getPositionStandardDeviation (   )

A function for the symbol "robot-pose.position-standard-deviation" Definition at line 79 of file RobotPoseSymbols.cpp. References RobotPose::getPositionStandardDeviation(). Referenced by registerSymbols().

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double RobotPoseSymbols::getAngleToBorder (   )

A function for the symbol "robot-pose.angle-to-border" Definition at line 89 of file RobotPoseSymbols.cpp. References RobotPose::angleToBorder, and toDegrees(). Referenced by registerSymbols().

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double RobotPoseSymbols::getDistanceToBorder (   )

A function for the symbol "robot-pose.distance-to-border" Definition at line 94 of file RobotPoseSymbols.cpp. References FieldDimensions::distanceToBorder(), RobotPose::getPose(), and Pose2D::translation. Referenced by registerSymbols().

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double RobotPoseSymbols::getDistanceToOwnGoal (   )

A function for the symbol "robot-pose.distance-to-own-goal" Definition at line 100 of file RobotPoseSymbols.cpp. References Geometry::distanceTo(). Referenced by registerSymbols().

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double RobotPoseSymbols::getDistanceToOwnPenaltyArea (   )

A function for the symbol "robot-pose.distance-to-own-penalty-area" Definition at line 106 of file RobotPoseSymbols.cpp. References FieldDimensions::distanceToOwnPenaltyArea(), and Pose2D::translation. Referenced by registerSymbols().

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double RobotPoseSymbols::getDistanceToOpponentGoal (   )

A function for the symbol "robot-pose.distance-to-opponent-goal" Definition at line 111 of file RobotPoseSymbols.cpp. References Geometry::distanceTo(). Referenced by registerSymbols().

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double RobotPoseSymbols::getDefensiveSupporterRobotPoseY (   )

calculates the value for the symbol "defensive-supporter.robot-pose.y" Definition at line 117 of file RobotPoseSymbols.cpp. Referenced by registerSymbols().

double RobotPoseSymbols::getStrikerRobotPoseY (   )

calculates the value for the symbol "striker.robot-pose.y" Definition at line 134 of file RobotPoseSymbols.cpp. Referenced by registerSymbols().

double RobotPoseSymbols::updateGoalieDefendPosition (   )

calculates the values for the symbols "robot-pose.goalie-defend-angle","robot-pose.goalie-defend-pos-x","robot-pose.goalie-defend-pos-y","robot-pose.goalie-defend-step-pos-x","robot-pose.goalie-defend-step-pos-y","robot-pose.goalie-defend-step-angle" Definition at line 181 of file RobotPoseSymbols.cpp. References alpha, ballPosX, ballPosY, computeGoalieDefendMinPos(), fromDegrees(), getRobotConfiguration(), RobotConfiguration::getRobotDimensions(), goalieDefendAngle, goalieDefendMinPosX, goalieDefendMinPosY, goalieDefendPositionX, goalieDefendPositionY, goalieDefendRadius, goalieDefendRadiusMax, goalieDefendRadiusMin, goalieDefendStepAngle, goalieDefendStepPosX, goalieDefendStepPosY, Pose2D::rotation, RobotDimensions::shoulderWidth, toDegrees(), Pose2D::translation, Vector2< double >::x, and Vector2< double >::y. Referenced by registerSymbols().

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double RobotPoseSymbols::getGoalieDefendAngle (   )

returns the Symbol "robot-pose.goalie-defend-angle" Definition at line 151 of file RobotPoseSymbols.cpp. References goalieDefendAngle. Referenced by registerSymbols().

double RobotPoseSymbols::getGoalieDefendPosY (   )

returns the Symbol "robot-pose.goalie-defend-pos-x" Definition at line 161 of file RobotPoseSymbols.cpp. References goalieDefendPositionY. Referenced by registerSymbols().

double RobotPoseSymbols::getGoalieDefendPosX (   )

returns the Symbol "robot-pose.goalie-defend-pos-y" Definition at line 156 of file RobotPoseSymbols.cpp. References goalieDefendPositionX. Referenced by registerSymbols().

double RobotPoseSymbols::getGoalieDefendStepPosX (   )

returns the Symbol "robot-pose.goalie-defend-step-pos-x" Definition at line 166 of file RobotPoseSymbols.cpp. References goalieDefendStepPosX. Referenced by registerSymbols().

double RobotPoseSymbols::getGoalieDefendStepPosY (   )

returns the Symbol "robot-pose.goalie-defend-step-pos-y" Definition at line 171 of file RobotPoseSymbols.cpp. References goalieDefendStepPosY. Referenced by registerSymbols().

double RobotPoseSymbols::getGoalieDefendStepAngle (   )

returns the Symbol "robot-pose.goalie-defend-step-angle" Definition at line 176 of file RobotPoseSymbols.cpp. References goalieDefendStepAngle. Referenced by registerSymbols().

double RobotPoseSymbols::calculateSpeedFactorFromRobotPositionStandardDeviation (   )

calculates a speed between 0...maxSpeed as a function of the current distribution variance Definition at line 322 of file RobotPoseSymbols.cpp. References RobotPose::getPositionStandardDeviation(). Referenced by registerSymbols().

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void RobotPoseSymbols::computeGoalieDefendMinPos (  const double &  alpha, const RobotDimensions &  rD )

calculates the values for the variables 'goalieDefendMinPosX','goalieDefendMinPosY','goalieDefendMinAngle' needed for the function 'updateGoalieDefendPosition' Definition at line 331 of file RobotPoseSymbols.cpp. References alpha, RobotDimensions::bodyWidth, fromDegrees(), goalieDefendMinPosX, goalieDefendMinPosY, goalieDefendRadiusMin, and RobotDimensions::shoulderWidth. Referenced by updateGoalieDefendPosition().

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void RobotPoseSymbols::calculateAngles (   )  [private]

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Member Data Documentation

double RobotPoseSymbols::ballPosX

the Parameter "robot-pose.update-goalie-defend-position.ball-pos-x" for the decimal input function "robot-pose.update-goalie-defend-position" Definition at line 57 of file RobotPoseSymbols.h. Referenced by registerSymbols(), and updateGoalieDefendPosition().

double RobotPoseSymbols::ballPosY

the Parameter "robot-pose.update-goalie-defend-position.ball-pos-y" for the decimal input function "robot-pose.update-goalie-defend-position" Definition at line 58 of file RobotPoseSymbols.h. Referenced by registerSymbols(), and updateGoalieDefendPosition().

Angles RobotPoseSymbols::angleShownByLEDs [private]

Definition at line 77 of file RobotPoseSymbols.h.

double RobotPoseSymbols::angles[numberOfAngles] [private]

Definition at line 79 of file RobotPoseSymbols.h.

double RobotPoseSymbols::goalieDefendAngle [private]

Definition at line 81 of file RobotPoseSymbols.h. Referenced by getGoalieDefendAngle(), and updateGoalieDefendPosition().

double RobotPoseSymbols::goalieDefendPositionX [private]

Definition at line 82 of file RobotPoseSymbols.h. Referenced by getGoalieDefendPosX(), and updateGoalieDefendPosition().

double RobotPoseSymbols::goalieDefendPositionY [private]

Definition at line 83 of file RobotPoseSymbols.h. Referenced by getGoalieDefendPosY(), and updateGoalieDefendPosition().

double RobotPoseSymbols::goalieDefendStepPosX [private]

Definition at line 84 of file RobotPoseSymbols.h. Referenced by getGoalieDefendStepPosX(), and updateGoalieDefendPosition().

double RobotPoseSymbols::goalieDefendStepPosY [private]

Definition at line 85 of file RobotPoseSymbols.h. Referenced by getGoalieDefendStepPosY(), and updateGoalieDefendPosition().

double RobotPoseSymbols::goalieDefendStepAngle [private]

Definition at line 86 of file RobotPoseSymbols.h. Referenced by getGoalieDefendStepAngle(), and updateGoalieDefendPosition().

double RobotPoseSymbols::goalieDefendRadiusMax [private]

Definition at line 87 of file RobotPoseSymbols.h. Referenced by updateGoalieDefendPosition().

double RobotPoseSymbols::goalieDefendRadiusMin [private]

Definition at line 88 of file RobotPoseSymbols.h. Referenced by computeGoalieDefendMinPos(), and updateGoalieDefendPosition().

double RobotPoseSymbols::goalieDefendMinPosX [private]

Definition at line 89 of file RobotPoseSymbols.h. Referenced by computeGoalieDefendMinPos(), and updateGoalieDefendPosition().

double RobotPoseSymbols::goalieDefendMinPosY [private]

Definition at line 90 of file RobotPoseSymbols.h. Referenced by computeGoalieDefendMinPos(), and updateGoalieDefendPosition().

double RobotPoseSymbols::goalieDefendRadius [private]

Definition at line 91 of file RobotPoseSymbols.h. Referenced by updateGoalieDefendPosition().

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

• Modules/BehaviorControl/CommonXabsl2Symbols/RobotPoseSymbols.h
• Modules/BehaviorControl/CommonXabsl2Symbols/RobotPoseSymbols.cpp

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