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#include <AutoGetupBehavior.h>
Inheritance diagram for AutoGetupBehavior:
Definition at line 15 of file AutoGetupBehavior.h.
Public Member Functions | |
AutoGetupBehavior () | |
constructor | |
virtual | ~AutoGetupBehavior () |
destructor | |
virtual void | DoStart () |
Listens for the SensorSourceID::UpdatedSID. | |
virtual void | DoStop () |
Stops listening for events. | |
virtual void | processEvent (const EventBase &event) |
Run appropriate motion script if the robot falls over. | |
virtual std::string | getName () const |
Identifies the behavior in menus and such. | |
Static Public Member Functions | |
std::string | getClassDescription () |
Gives a short description of what this class of behaviors does... you should override this (but don't have to). | |
Protected Attributes | |
float | back |
exponential average of backwards accel | |
float | side |
exponential average of sideways accel | |
float | gamma |
default 0.9, gamma parameter for exponential average of above | |
float | sensitivity |
default 0.85*0.85, squared threshold to consider having fallen over, use values 0-1 | |
bool | waiting |
true while we're waiting to hear from completion of MotionSequence, won't try again until this is cleared |
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constructor
Definition at line 18 of file AutoGetupBehavior.h. References back, gamma, sensitivity, side, and waiting. |
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destructor
Definition at line 20 of file AutoGetupBehavior.h. |
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Listens for the SensorSourceID::UpdatedSID.
Reimplemented from BehaviorBase. Definition at line 23 of file AutoGetupBehavior.h. References EventRouter::addListener(), BehaviorBase::DoStart(), erouter, and EventBase::sensorEGID. |
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Stops listening for events.
Reimplemented from BehaviorBase. Definition at line 28 of file AutoGetupBehavior.h. References BehaviorBase::DoStop(), erouter, and EventRouter::forgetListener(). |
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Gives a short description of what this class of behaviors does... you should override this (but don't have to).
Reimplemented from BehaviorBase. Definition at line 62 of file AutoGetupBehavior.h. |
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Identifies the behavior in menus and such.
Implements BehaviorBase. Definition at line 61 of file AutoGetupBehavior.h. |
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Run appropriate motion script if the robot falls over.
Reimplemented from BehaviorBase. Definition at line 33 of file AutoGetupBehavior.h. References EventRouter::addListener(), MotionManager::addMotion(), ERS210Info::BAccelOffset, back, config, EventBase::deactivateETID, erouter, WorldState::g, gamma, EventBase::getGeneratorID(), MotionManager::kHighPriority, ERS210Info::LAccelOffset, Config::motion_config::makePath(), MotionManager::MC_ID, Config::motion, motman, EventBase::motmanEGID, SoundManager::PlayFile(), EventRouter::removeListener(), sensitivity, WorldState::sensors, side, sndman, state, and waiting. |
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exponential average of backwards accel
Definition at line 65 of file AutoGetupBehavior.h. |
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default 0.9, gamma parameter for exponential average of above
Definition at line 67 of file AutoGetupBehavior.h. |
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default 0.85*0.85, squared threshold to consider having fallen over, use values 0-1
Definition at line 68 of file AutoGetupBehavior.h. |
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exponential average of sideways accel
Definition at line 66 of file AutoGetupBehavior.h. |
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true while we're waiting to hear from completion of MotionSequence, won't try again until this is cleared
Definition at line 69 of file AutoGetupBehavior.h. |
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