SLBenchmark Class Reference

#include <SLBenchmark.h>

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[legend]List of all members.

Public Member Functions
	SLBenchmark (const BehaviorControlInterfaces &interfaces)
virtual void	execute ()
	When doing a debug build, we save the time, when we entered the module, so we can find endless loops.
Private Member Functions
void	GenerateNewTarget ()
double	GoToNextTarget ()
double	RotateToNextTarget ()
bool	FullTurn ()
Private Attributes
Pose2D	currentPose
Vector2< double >	targetPosition
double	targetRotation
OutTextFile *	dataFile
int	index
OdometryData	lastOdometry
double	rotationAngle
int	state
Vector3< double >	targets [6]

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Constructor & Destructor Documentation

SLBenchmark::SLBenchmark (  const BehaviorControlInterfaces &  interfaces  )

Definition at line 15 of file SLBenchmark.cpp. References GenerateNewTarget(), idText, INITIAL_STATE, OUTPUT, pi, pi_2, pi_4, and targets.

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Member Function Documentation

void SLBenchmark::execute (   )  [virtual]

When doing a debug build, we save the time, when we entered the module, so we can find endless loops. Reimplemented from Module. Definition at line 39 of file SLBenchmark.cpp. References Vector2< double >::angle(), ARROW, currentPose, GenerateNewTarget(), GTCamWorldState::getRobotPose(), GoToNextTarget(), HeadControlMode::headControlMode, INITIAL_STATE, LINE, MotionRequest::motionType, ROT_ERROR, RotateToNextTarget(), Pose2D::rotation, MotionRequest::stand, targets, TRANS_ERROR, Pose2D::translation, WalkRequest::walkParams, MotionRequest::walkRequest, Vector3< double >::x, Vector2< V >::x, Vector2< double >::x, Vector3< double >::y, Vector2< V >::y, and Vector2< double >::y.

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void SLBenchmark::GenerateNewTarget (   )  [private]

Definition at line 108 of file SLBenchmark.cpp. References endl(), idText, OUTPUT, pi, pi2, targetPosition, targets, Vector3< double >::x, Vector2< double >::x, Vector3< double >::y, Vector2< double >::y, and Vector3< double >::z. Referenced by execute(), and SLBenchmark().

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double SLBenchmark::GoToNextTarget (   )  [private]

Definition at line 128 of file SLBenchmark.cpp. References Vector2< V >::abs(), Geometry::angleTo(), ARROW, currentPose, endl(), GTCamWorldState::getRobotPose(), min, MotionRequest::motionType, Pose2D::rotation, targetPosition, TRANS_ERROR, Pose2D::translation, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, and Vector2< V >::y. Referenced by execute().

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double SLBenchmark::RotateToNextTarget (   )  [private]

Definition at line 164 of file SLBenchmark.cpp. References GTCamWorldState::getRobotPose(), MotionRequest::motionType, pi, pi2, pi_4, ROT_ERROR, Pose2D::rotation, Pose2D::translation, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, Vector2< double >::x, and Vector2< double >::y. Referenced by execute().

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bool SLBenchmark::FullTurn (   )  [private]

Definition at line 191 of file SLBenchmark.cpp. References MotionRequest::motionType, pi, pi_2, Pose2D::rotation, Pose2D::translation, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, Vector2< double >::x, and Vector2< double >::y.

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Member Data Documentation

Pose2D SLBenchmark::currentPose [private]

Definition at line 13 of file SLBenchmark.h. Referenced by execute(), and GoToNextTarget().

Vector2<double> SLBenchmark::targetPosition [private]

Definition at line 15 of file SLBenchmark.h. Referenced by GenerateNewTarget(), and GoToNextTarget().

double SLBenchmark::targetRotation [private]

Definition at line 16 of file SLBenchmark.h.

OutTextFile* SLBenchmark::dataFile [private]

Definition at line 18 of file SLBenchmark.h.

int SLBenchmark::index [private]

Definition at line 20 of file SLBenchmark.h.

OdometryData SLBenchmark::lastOdometry [private]

Definition at line 22 of file SLBenchmark.h.

double SLBenchmark::rotationAngle [private]

Definition at line 24 of file SLBenchmark.h.

int SLBenchmark::state [private]

Definition at line 26 of file SLBenchmark.h.

Vector3<double> SLBenchmark::targets[6] [private]

Definition at line 28 of file SLBenchmark.h. Referenced by execute(), GenerateNewTarget(), and SLBenchmark().

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

• Modules/BehaviorControl/SLBenchmark.h
• Modules/BehaviorControl/SLBenchmark.cpp

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