A class that shares the required walk and kick variables amongst the behaviour state classes. More...

Public Member Functions
	WAKBehShared (WAKConfig &config, const SensorVars &SV, const WAKRosInterface &RI, WAKBehManager &BM)

void	registerState (WAKBehState *state, int ID, const std::string &name) const

void	resetShared ()

void	updateShared (const GameVars &GV)

BAType	ballAction () const

void	setWalkingTarget (const Vec2f &target, float tol=-1.0f) const

void	setWalkingTargetTol (float tol) const

cycle_t	wakCycle () const

cycle_t	stateCycle () const

float	wakTime () const

float	stateTime () const

float	walkToGlobalPose (ActuatorVars &AV, float targetX, float targetY) const

float	walkToGlobalPose (ActuatorVars &AV, float targetX, float targetY, float targetZ, bool useZ=true) const

bool	obstacleAvoidance (Vec3f &GCV, const Vec2f &walkingTarget) const

bool	gazeAtBall (ActuatorVars &AV, const ActuatorVars &lastAV) const

Vec2f	calcGcvXY (float maxGcvX, float maxGcvY, float angle) const

Public Attributes
const FieldDimensions	field

plot_msgs::PlotManagerFS &	PM

WAKMarkerMan &	MM

GameVars	GV

float	reqBallDirMidY

Vec2f	reqBallDirLeftKb

Vec2f	reqBallDirRightKb

Vec2f	reqBallDirLeftDb

Vec2f	reqBallDirRightDb

bool	haveBallTarget

float	ballTargetDist

float	ballTargetAngle

Vec2f	ballToTargetDir

float	ballToTargetDist

float	ballToTargetAngle

float	ballToTargetAngleOffsetKick

Detailed Description

A class that shares the required walk and kick variables amongst the behaviour state classes.

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

/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/behaviour/walk_and_kick/include/walk_and_kick/wak_beh_shared.h
/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/behaviour/walk_and_kick/src/wak_beh_shared.cpp

Public Member Functions