This namespace defines everything that is required for the walk and kick behaviour node. More...

Classes
class	BehDiveForBall
	A walk and kick behaviour state that dives for the ball. More...

class	BehDribbleBall
	A walk and kick behaviour state that dribbles the ball towards a target. More...

class	BehGoBehindBall
	A walk and kick behaviour state that lines up the robot with the ball and a target. More...

class	BehKickBall
	A walk and kick behaviour state that kicks the ball towards a target. More...

class	BehPanicAttack
	A walk and kick behaviour state that induces a panic attack and stops the robot still. More...

class	BehSearchForBall
	A walk and kick behaviour state that searches for the ball. More...

class	BehStopped
	A walk and kick behaviour state that simply tells the robot to stop in place. More...

class	BehUnknownState
	A walk and kick behaviour state that stands in for an unknown state or ID. More...

class	GazeBehLookAround
	A walk and kick gaze behaviour state that looks around. More...

class	GazeBehLookAtBall
	A walk and kick gaze behaviour state that looks at the ball (and does not move the head from the last commanded pose if the ball is not seen). More...

class	GazeBehLookDown
	A walk and kick gaze behaviour state that looks down. More...

class	GazeBehLookForBall
	A walk and kick gaze behaviour state that looks for the ball. More...

class	GazeBehLookLeftRight
	A walk and kick gaze behaviour state that looks left and right. More...

class	WalkBehWalkToPose
	A walk and kick walk behaviour state that makes the robot walk to a desired target pose on the field. More...

class	GameDefaultBallHandling
	A walk and kick game state that implements default ball handling for playing soccer. More...

class	GameDefaultGoalie
	A walk and kick game state that implements default goalie behaviours for playing soccer. More...

class	GameGazeForBall
	A walk and kick game state that makes the robot look for the ball by gaze only. More...

class	GamePanicAttack
	A walk and kick game state that induces a panic attack. More...

class	GamePenaltyBallHandling
	A walk and kick game state that implements ball handling for taking a penalty kick. More...

class	GamePenaltyGoalie
	A walk and kick game state that implements goalie behaviours for defending a penalty kick. More...

class	GamePositioning
	A walk and kick game state that forces the robot to the positioning behaviour state. More...

class	GameStopped
	A walk and kick game state that forces the robot to the stopped behaviour state. More...

class	GameUnknownState
	A walk and kick game state that stands in for an unknown state or ID. More...

class	GameWaitForBallInPlay
	A walk and kick game state that waits for the ball to be in play. More...

class	ActuatorVars
	An interface class for encapsulating all of the data that the walk and kick behaviour states should command. More...

class	WAKBehManager
	A class that manages and executes the walk and kick behaviour states. More...

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

class	WAKBehState
	The base class for all walk and kick behaviour states. More...

class	WAKBehStateCombined
	A walk and kick behaviour state that combines two others (which are assumed to operate independently). More...

class	WAKConfig
	Configuration struct for the walk and kick node. More...

class	WAKGameManager
	A class that manages and executes the walk and kick game states. More...

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

class	DynamicTargetPose
	Simple class that encapsulates the variables needed to easily dynamically calculate a target pose. More...

class	WAKGameState
	The base class for all walk and kick game states. More...

class	GameVars
	An interface class for encapsulating all of the data that the walk and kick game states should command. More...

class	GCRosInterface
	An interface class to the ROS world for getting game controller messages. More...

class	GCVars
	A class that encapsulates all of the game controller input data to the walk and kick node. More...

class	WAKRosInterface
	An interface class between the walk and kick and ROS worlds. More...

class	SensorVars
	An interface class for encapsulating all of the ROS input data to the walk and kick node. More...

class	TCRosInterface
	An interface class to the ROS world for team communications. More...

class	TCRobotListener
	A class that listens to the team communications data of one particular robot. More...

class	TCVars
	A class that encapsulates all of the team communication input data to the walk and kick node. More...

class	TCRobotVars
	A class that encapsulates all of the team communications data received from one particular robot. More...

class	WAKUtils
	A collection of independent helper functions that should be available to all. More...

class	Counter
	A simple counter class for counting events. More...

class	TheWorm
	A class that implements the worm, for making a live decision between two opposites. More...

class	LiveTrapVelSpline
	A wrapper class for the trapezoidal velocity spline class `rc_utils::TrapVelSpline` with a focus on smoothly supporting live updates of the spline. More...

class	TrapVelSpline2D
	A trapezoidal velocity spline that operates in 2D, based on the `rc_utils::TrapVelSpline` class. More...

class	FieldDimensions
	A simple class for abstracting away the source of the field dimensions. More...

class	WAKMarkerMan
	Visualisation marker manager for the walk and kick node. More...

class	WAKBagMarkerMan
	Visualisation marker manager for visualisations that are intended for when playing behaviour bags. More...

class	WalkAndKick
	The main walk and kick behaviour class. More...

Typedefs
typedef WAKBehStateCombined < WalkBehWalkToPose, GazeBehLookAround >	BehWalkToPoseLookAround

typedef WAKBehStateCombined < WalkBehWalkToPose, GazeBehLookAtBall >	BehWalkToPoseLookAtBall

typedef WAKBehStateCombined < WalkBehWalkToPose, GazeBehLookForBall >	BehWalkToPoseLookForBall

typedef WAKBehStateCombined < WalkBehWalkToPose, GazeBehLookLeftRight >	BehWalkToPoseLookLeftRight

typedef Eigen::Vector2f	Vec2f

typedef Eigen::Vector3f	Vec3f

typedef std::vector< Vec2f, Eigen::aligned_allocator < Vec2f > >	Vec2fArray

typedef std::vector< Vec3f, Eigen::aligned_allocator < Vec3f > >	Vec3fArray

typedef long long int	cycle_t

typedef std::vector< GoalPost >	GoalPostList

typedef std::vector< Obstacle >	ObstacleList

typedef boost::shared_ptr < const TCRobotListener >	TCRobotListenerConstPtr

typedef std::vector < TCRobotListenerConstPtr >	TCRobotListenerList

typedef boost::shared_ptr < const TCRobotVars >	TCRobotVarsConstPtr

typedef std::map< unsigned int, TCRobotVarsConstPtr >	TCRobotDataMap

Enumerations
enum	BAType { BA_UNKNOWN = 0, BA_KICK, BA_DRIBBLE, BA_COUNT, BA_DEFAULT = BA_KICK }

enum	KickoffType { KT_UNKNOWN = 0, KT_DEFENDING, KT_ATTACKING, KT_DROPBALL, KT_MANUAL, KT_COUNT, KT_DEFAULT = KT_MANUAL }

enum	ButtonState { BTN_UNKNOWN = 0, BTN_STOP, BTN_PLAY, BTN_GOALIE, BTN_POS, BTN_COUNT }

enum	GameCommand { CMD_UNKNOWN = 0, CMD_STOP, CMD_POS, CMD_PLAY, CMD_COUNT }

enum	GameRole { ROLE_UNKNOWN = 0, ROLE_FIELDPLAYER, ROLE_GOALIE, ROLE_COUNT, ROLE_DEFAULT = ROLE_FIELDPLAYER }

enum	PlayState { PS_UNKNOWN = 0, PS_STOP, PS_TIMEOUT, PS_READY, PS_SET, PS_BEGIN_PLAY, PS_PLAY, PS_COUNT }

enum	DiveDirection { DD_NONE = 0, DD_LEFT, DD_RIGHT, DD_SIT, DD_COUNT }

enum	WAKPMIDS { PM_WAK_TRUEDT = 0, PM_WAK_CYCLE, PM_RI_COMMSOK, PM_RI_PUBGAZEPITCH, PM_RI_PUBGAZEYAW, PM_RI_PUBGCVX, PM_RI_PUBGCVY, PM_RI_PUBGCVZ, PM_RI_PUBWALK, PM_RI_PUBKICKLEFT, PM_RI_PUBKICKRIGHT, PM_GC_SEQID, PM_GC_TIMESINCEPACKETBASE, PM_GC_TIMESINCEPACKETEXTRA, PM_GC_EXTRAOUTOFDATE, PM_GC_GAMEPHASE, PM_GC_GAMESTATE, PM_GC_TIMEPLAYING, PM_GC_KICKOFFTYPE, PM_GC_TIMEREMAINING_RAW, PM_GC_TIMEREMAINING_SMOOTH, PM_GC_SECONDARYTIME_RAW, PM_GC_SECONDARYTIME_SMOOTH, PM_GC_TIMETOBALLINPLAY_RAW, PM_GC_TIMETOBALLINPLAY_SMOOTH, PM_GC_OWNPENALTYSTATE, PM_GC_OWNPENALTYTIME_RAW, PM_GC_OWNPENALTYTIME_SMOOTH, PM_GC_OWNSCORE, PM_GC_OPPSCORE, PM_GC_OWNNUMPLAYING, PM_GC_OPPNUMPLAYING, PM_TC_NUMFRESH, PM_TC_NUMFRESHVALID, PM_TC_TIMESINCEDATA, PM_SV_ISPENALTYSHOOT, PM_SV_ISPENALTYTAKER, PM_SV_KICKOFFTYPE, PM_SV_GOALSIGN, PM_SV_PLAYASCYAN, PM_SV_GAMECOMMAND, PM_SV_GAMEROLE, PM_SV_PLAYSTATE, PM_SV_PLAYSTATEFIRSTIN, PM_SV_PLAYSTATEFIRSTTOLD, PM_SV_PLAYSTATELASTTOLD, PM_SV_PLAYSTATETIMEOUT, PM_SV_TIMEPLAYING, PM_SV_COMPASSHEADING, PM_SV_ROBOTPOSECONF, PM_SV_HAVEROBOTPOSE, PM_SV_ROBOTPOSETIMEAGO, PM_SV_ROBOTPOSEDUR, PM_SV_ROBOTPOSEX, PM_SV_ROBOTPOSEY, PM_SV_ROBOTPOSEZ, PM_SV_BALLCONF, PM_SV_HAVEBALL, PM_SV_BALLTIMEAGO, PM_SV_BALLDUR, PM_SV_BALLX, PM_SV_BALLY, PM_SV_BALLANGLE, PM_SV_BALLDIST, PM_SV_BALLSTABLE, PM_SV_HAVEBALLPOSE, PM_SV_BALLPOSETIMEAGO, PM_SV_BALLPOSEDUR, PM_SV_BALLPOSEX, PM_SV_BALLPOSEY, PM_SV_BALLPOSESTABLE, PM_SV_BALLHASMOVED, PM_SV_BALLINPLAY, PM_SV_DIRECTGOALALLOWED, PM_GV_FORCEBEHSTATE, PM_GV_SUGGESTFOOT, PM_GV_DRIBBLEIFPOSSIBLE, PM_GV_KICKIFPOSSIBLE, PM_GV_DIVEIFPOSSIBLE, PM_GV_HAVEBALLTARGET, PM_GV_BALLTARGETX, PM_GV_BALLTARGETY, PM_GV_BALLTARGETCONF, PM_GV_BALLTARGETDIST, PM_GV_BALLTARGETANGLE, PM_GV_BALLTARGETWEDGE, PM_GV_BALLTARGETTYPE, PM_GV_BALLTOTARGETDIST, PM_GV_BALLTOTARGETANGLE, PM_GV_BTTANGLEOFFSETKICK, PM_GV_TARGETPOSEX, PM_GV_TARGETPOSEY, PM_GV_TARGETPOSEZ, PM_GV_TARGETPOSETOL, PM_GV_TARGETPOSEVALID, PM_AV_GAZEPITCH, PM_AV_GAZEYAW, PM_AV_GCVX, PM_AV_GCVY, PM_AV_GCVZ, PM_AV_HALT, PM_AV_KICKLEFT, PM_AV_KICKRIGHT, PM_AV_DIVE, PM_GM_STATECYCLE, PM_GM_CURSTATE, PM_GM_POSELEGAL, PM_DG_SCORINGDIST, PM_OBH_ACTIVE, PM_OBH_BALLTOOBSTDIST, PM_OBH_ANGLEATBALLLOW, PM_OBH_ANGLEATBALLHIGH, PM_OBH_ANGLEATBALLSTD, PM_OBH_TARGETANGLEADJUST, PM_OBH_ANGLEADJUSTFORDRIBBLE, PM_OBH_ANGLEADJUSTFORFOOTSEL, PM_OBH_KICKIFPOSSIBLE, PM_OBH_SUGGESTFOOT, PM_BM_STATECYCLE, PM_BM_CURSTATE, PM_BM_OKTOKICK, PM_BM_OKTODRIBBLE, PM_BM_OKTODRIBBLESTILL, PM_BM_COULDKICKNOW, PM_BM_COULDDRIBBLENOW, PM_BM_ALLOWKICK, PM_BM_ALLOWDRIBBLE, PM_BM_BALLACTIONISKICK, PM_WTGP_GBLTARGETX, PM_WTGP_GBLTARGETY, PM_WTGP_GBLTARGETZ, PM_WTGP_USEZ, PM_WTGP_TARGETX, PM_WTGP_TARGETY, PM_WTGP_TARGETZERR, PM_WTGP_TARGETDIST, PM_WTGP_TARGETANGLE, PM_WTGP_DISTCOST, PM_WTP_DISTCOST, PM_WTP_ARRIVED, PM_GAB_TS90, PM_LA_GAZEMAG, PM_LA_GAZETARGETID, PM_LA_GAZETARGETX, PM_LA_GAZETARGETY, PM_LLR_GAZEFREQ, PM_SFB_SFBSTATE, PM_SFB_ISREQUEST, PM_SFB_ISRESUMED, PM_SFB_SFBSTATETIME, PM_SFB_BALLHYPTYPE, PM_SFB_TIMEOUT, PM_SFB_TARGETX, PM_SFB_TARGETY, PM_SFB_DIRN, PM_SFB_FACTOR, PM_SFB_FAILCOUNTER, PM_SFB_DONECOUNTER, PM_GBB_BALLDIST, PM_GBB_BETA, PM_GBB_RADIUS_MIN, PM_GBB_RADIUS_DES, PM_GBB_RADIUS_HALO, PM_GBB_PATH_LEN, PM_GBB_WALK_SPEED, PM_GBB_PSI_BALL, PM_GBB_PSI_TARGET, PM_GBB_PSI_DES, PM_GBB_PROXIMITY_VALUE, PM_GBB_NEAR_FACTOR, PM_GBB_FOOTDUETOLESSDIST, PM_GBB_FOOTDUETOBALLPOSE, PM_GBB_RECONSIDERFOOT, PM_GBB_USERIGHTFOOT, PM_GBB_REQBALLX, PM_GBB_REQBALLY, PM_GBB_GCVX, PM_GBB_GCVY, PM_GBB_GCVZ, PM_GBB_GCVN, PM_GBB_BALLACTIONTIP, PM_DB_WEDGETOL, PM_DB_WEDGETOLSTILL, PM_DB_FACINGTARGET, PM_DB_FACINGTARGETSTILL, PM_DB_BALLXOK, PM_DB_BALLXOKSTILL, PM_DB_BALLYOK, PM_DB_BALLYOKSTILL, PM_DB_OKTODRIBBLE, PM_DB_OKTODRIBBLESTILL, PM_DBAPP_PREFERRIGHTFOOT, PM_DBAPP_RECONSIDERFOOT, PM_DBAPP_USERIGHTFOOT, PM_DBAPP_ROBOTEX, PM_DBAPP_ROBOTEY, PM_DBAPP_LOCALPATHANGLE, PM_DBAPP_UFACTOR, PM_DBAPP_RATIOXY, PM_KB_WEDGETOL, PM_KB_BALLERRORLEFTX, PM_KB_BALLERRORLEFTY, PM_KB_BALLERRORRIGHTX, PM_KB_BALLERRORRIGHTY, PM_KB_FACINGTARGET, PM_KB_FACINGTARGETSTILL, PM_KB_LEFTFOOTOK, PM_KB_LEFTFOOTOKSTILL, PM_KB_RIGHTFOOTOK, PM_KB_RIGHTFOOTOKSTILL, PM_KB_OKTOKICK, PM_KB_OKTOKICKSTILL, PM_KB_DOKICK, PM_KB_BESTKICKRIGHT, PM_KB_KICKLOCK, PM_DFB_DIVELOCK, PM_COUNT }

Functions
bool	ballActionTypeValid (int type)

bool	ballActionTypeValid (BAType type)

const std::string &	ballActionTypeName (BAType type)

bool	kickoffTypeValid (int type)

bool	kickoffTypeValid (KickoffType type)

const std::string &	kickoffTypeName (KickoffType type)

bool	buttonStateValid (int state)

bool	buttonStateValid (ButtonState state)

const std::string &	buttonStateName (ButtonState state)

bool	gameCommandValid (int command)

bool	gameCommandValid (GameCommand command)

const std::string &	gameCommandName (GameCommand command)

bool	gameRoleValid (int role)

bool	gameRoleValid (GameRole role)

const std::string &	gameRoleName (GameRole role)

bool	gameRoleIsGoalie (GameRole role)

bool	gameRoleIsFieldPlayer (GameRole role)

bool	playStateValid (int state)

bool	playStateValid (PlayState state)

const std::string &	playStateName (PlayState state)

bool	diveDirectionValid (int dirn)

bool	diveDirectionValid (DiveDirection dirn)

const std::string &	diveDirectionName (DiveDirection dirn)

void	configurePlotManager (plot_msgs::PlotManagerFS *PM)

Variables
const std::string	BATypeName [BA_COUNT]

const std::string	KickoffTypeName [KT_COUNT]

const std::string	ButtonStateName [BTN_COUNT]

const std::string	GameCommandName [CMD_COUNT]

const std::string	GameRoleName [ROLE_COUNT]

const std::string	PlayStateName [PS_COUNT]

const std::string	DiveDirectionName [DD_COUNT]

Detailed Description

This namespace defines everything that is required for the walk and kick behaviour node.

Variable Documentation

const std::string walk_and_kick::BATypeName[BA_COUNT]

Initial value:

= {
        "Unknown",
        "Kick",
        "Dribble"
    }

const std::string walk_and_kick::ButtonStateName[BTN_COUNT]

Initial value:

= {
        "Unknown Mode",
        "Halt Mode",
        "Play Mode",
        "Goalie Mode",
        "Positioning Mode"
    }

const std::string walk_and_kick::DiveDirectionName[DD_COUNT]

Initial value:

= {
        "No Dive",
        "Left Dive",
        "Right Dive",
        "Sit Dive"
    }

const std::string walk_and_kick::GameCommandName[CMD_COUNT]

Initial value:

= {
        "UnknownCmd",
        "Stop",
        "Positioning",
        "Play"
    }

const std::string walk_and_kick::GameRoleName[ROLE_COUNT]

Initial value:

= {
        "UnknownRole",
        "FieldPlayer",
        "Goalie",
    }

const std::string walk_and_kick::KickoffTypeName[KT_COUNT]

Initial value:

= {
        "Unknown",
        "Defending",
        "Attacking",
        "DropBall",
        "Manual"
    }

const std::string walk_and_kick::PlayStateName[PS_COUNT]

Initial value:

= {
        "UnknownPlayState",
        "Stop",
        "Timeout",
        "Ready",
        "Set",
        "BeginPlay",
        "Play"
    }

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Variable Documentation