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AutoGetupBehavior Class Reference

#include <AutoGetupBehavior.h>

Inheritance diagram for AutoGetupBehavior:

List of all members.


Detailed Description

a little background behavior to keep the robot on its feet

Definition at line 15 of file AutoGetupBehavior.h.


Public Member Functions

 AutoGetupBehavior ()
 constructor
virtual ~AutoGetupBehavior ()
 destructor
virtual void DoStart ()
 Listens for the SensorSrcID::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 getDescription () const
 Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).

Static Public Member Functions

static 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

Constructor & Destructor Documentation

AutoGetupBehavior::AutoGetupBehavior (  )  [inline]

constructor

Definition at line 18 of file AutoGetupBehavior.h.

virtual AutoGetupBehavior::~AutoGetupBehavior (  )  [inline, virtual]

destructor

Definition at line 20 of file AutoGetupBehavior.h.


Member Function Documentation

virtual void AutoGetupBehavior::DoStart (  )  [inline, virtual]

Listens for the SensorSrcID::UpdatedSID.

Reimplemented from BehaviorBase.

Definition at line 23 of file AutoGetupBehavior.h.

virtual void AutoGetupBehavior::DoStop (  )  [inline, virtual]

Stops listening for events.

Reimplemented from BehaviorBase.

Definition at line 28 of file AutoGetupBehavior.h.

virtual void AutoGetupBehavior::processEvent ( const EventBase event  )  [inline, virtual]

Run appropriate motion script if the robot falls over.

Reimplemented from BehaviorBase.

Definition at line 33 of file AutoGetupBehavior.h.

static std::string AutoGetupBehavior::getClassDescription (  )  [inline, static]

Gives a short description of what this class of behaviors does... you should override this (but don't have to).

If you do override this, also consider overriding getDescription() to return it

Reimplemented from BehaviorBase.

Definition at line 61 of file AutoGetupBehavior.h.

Referenced by getDescription().

virtual std::string AutoGetupBehavior::getDescription (  )  const [inline, virtual]

Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).

By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!)

This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so.

Reimplemented from BehaviorBase.

Definition at line 62 of file AutoGetupBehavior.h.


Member Data Documentation

float AutoGetupBehavior::back [protected]

exponential average of backwards accel

Definition at line 65 of file AutoGetupBehavior.h.

Referenced by processEvent().

float AutoGetupBehavior::side [protected]

exponential average of sideways accel

Definition at line 66 of file AutoGetupBehavior.h.

Referenced by processEvent().

float AutoGetupBehavior::gamma [protected]

default 0.9, gamma parameter for exponential average of above

Definition at line 67 of file AutoGetupBehavior.h.

Referenced by processEvent().

float AutoGetupBehavior::sensitivity [protected]

default 0.85*0.85, squared threshold to consider having fallen over, use values 0-1

Definition at line 68 of file AutoGetupBehavior.h.

Referenced by processEvent().

bool AutoGetupBehavior::waiting [protected]

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.

Referenced by processEvent().


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

Tekkotsu v4.0
Generated Thu Nov 22 00:58:08 2007 by Doxygen 1.5.4