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194 | /**
* @file PathPlanner2018.h
*
* @author <a href="mailto:akcayyig@hu-berlin.de">Yigit Can Akcay</a>
* Definition of class PathPlanner2018
*/
#ifndef _PathPlanner2018_H_
#define _PathPlanner2018_H_
#include <ModuleFramework/Module.h>
#include "Tools/Math/Geometry.h"
// debug
#include "Tools/Debug/DebugRequest.h"
#include "Tools/Debug/DebugPlot.h"
#include "Tools/Debug/DebugModify.h"
#include "Tools/Debug/DebugParameterList.h"
// representations
#include "Representations/Infrastructure/FieldInfo.h"
#include "Representations/Infrastructure/FrameInfo.h"
#include "Representations/Motion/Request/HeadMotionRequest.h"
#include "Representations/Motion/Request/MotionRequest.h"
#include "Representations/Motion/MotionStatus.h"
#include "Representations/Perception/MultiBallPercept.h"
#include "Representations/Modeling/BallModel.h"
#include "Representations/Modeling/PathModel.h"
#include "Representations/Debug/Stopwatch.h"
BEGIN_DECLARE_MODULE(PathPlanner2018)
PROVIDE(DebugPlot)
PROVIDE(DebugRequest)
PROVIDE(DebugModify)
PROVIDE(DebugParameterList)
REQUIRE(FieldInfo)
REQUIRE(MultiBallPercept)
REQUIRE(MotionStatus)
REQUIRE(BallModel)
REQUIRE(FrameInfo)
PROVIDE(PathModel)
PROVIDE(MotionRequest)
PROVIDE(HeadMotionRequest)
PROVIDE(StopwatchManager)
END_DECLARE_MODULE(PathPlanner2018)
class PathPlanner2018 : public PathPlanner2018Base
{
public:
PathPlanner2018();
~PathPlanner2018();
virtual void execute();
private:
class Parameters : public ParameterList
{
public:
Parameters() : ParameterList("PathPlanner2018")
{
PARAMETER_REGISTER(readyForSideKickThresholdX) = 4.0;
PARAMETER_REGISTER(readyForSideKickThresholdY) = 0.3;
PARAMETER_REGISTER(forwardKickThreshold_near.x) = 25; // mm
PARAMETER_REGISTER(forwardKickThreshold_near.y) = 25; // mm
PARAMETER_REGISTER(forwardKickThreshold_far.x) = 50; // mm
PARAMETER_REGISTER(forwardKickThreshold_far.y) = 25; // mm
//PARAMETER_REGISTER(nearApproachForwardKickBallPosOffsetX) = 110;
PARAMETER_REGISTER(nearApproachSideKickBallPosOffsetX) = 100;
PARAMETER_REGISTER(sidekickOffsetY) = 40.0;
PARAMETER_REGISTER(sideKickTime) = 300;
PARAMETER_REGISTER(farToNearApproachThreshold) = 10.0;
//Parameters for 2019 - needs cleanup
PARAMETER_REGISTER(moveAroundBallCharacter) = 1.0;
PARAMETER_REGISTER(moveAroundBallCharacterStable) = 0.3;
PARAMETER_REGISTER(stepLength) = 80.0;
PARAMETER_REGISTER(nearApproach_step_character) = 0.3;
PARAMETER_REGISTER(forwardKickOffset.x) = 120; // mm
PARAMETER_REGISTER(forwardKickOffset.y) = 0; // mm
PARAMETER_REGISTER(forwardKickThreshold.x) = 50; // mm
PARAMETER_REGISTER(forwardKickThreshold.y) = 25; // mm
PARAMETER_REGISTER(forwardKickAdaptive) = false; // mm
PARAMETER_REGISTER(forwardKickTime) = 300;
syncWithConfig();
}
virtual ~Parameters(){}
double readyForSideKickThresholdX;
double readyForSideKickThresholdY;
Vector2d forwardKickThreshold_far;
Vector2d forwardKickThreshold_near;
//double nearApproachForwardKickBallPosOffsetX;
double nearApproachSideKickBallPosOffsetX;
double sidekickOffsetY;
int sideKickTime;
double farToNearApproachThreshold;
double moveAroundBallCharacter;
double moveAroundBallCharacterStable;
double stepLength;
double nearApproach_step_character;
Vector2d forwardKickThreshold;
Vector2d forwardKickOffset;
bool forwardKickAdaptive;
int forwardKickTime;
} params;
// NONE means hip
enum Foot
{
RIGHT,
LEFT,
NONE
};
typedef WalkRequest::StepControlRequest::StepType StepType;
typedef WalkRequest::StepControlRequest::RestrictionMode RestrictionMode;
typedef WalkRequest::Coordinate Coordinate;
void moveAroundBall(const double direction, const double radius, const bool stable);
bool target_reached;
void moveAroundBall2(const double direction, const double radius, const bool stable);
// goToBall is split up between sideKick and forwardKick so that changing things in upcoming RoboCup 2018
// won't be so complex as to introduce bugs easily
bool farApproach();
bool nearApproach_forwardKick(const double offsetX, const double offsetY);
bool nearApproach_sideKick(const Foot& foot, const double offsetX, const double offsetY);
bool sidesteps(const Foot& foot, const double direction);
void forwardKick();
void sideKick(const Foot& foot);
// generate a setter method
#define SET(Type, SetName, Name) \
public: StepBufferElement& set##SetName(const Type& v) { Name = v; return *this; } \
public: Type Name
struct StepBufferElement
{
StepBufferElement() {}<--- Member variable 'StepBufferElement::speedDirection' is not initialized in the constructor.<--- Member variable 'StepBufferElement::time' is not initialized in the constructor.<--- Member variable 'StepBufferElement::character' is not initialized in the constructor.<--- Member variable 'StepBufferElement::scale' is not initialized in the constructor.<--- Member variable 'StepBufferElement::foot' is not initialized in the constructor.<--- Member variable 'StepBufferElement::isProtected' is not initialized in the constructor.
StepBufferElement(const std::string& name) : debug_name(name) {}<--- Member variable 'StepBufferElement::speedDirection' is not initialized in the constructor.<--- Member variable 'StepBufferElement::time' is not initialized in the constructor.<--- Member variable 'StepBufferElement::character' is not initialized in the constructor.<--- Member variable 'StepBufferElement::scale' is not initialized in the constructor.<--- Member variable 'StepBufferElement::foot' is not initialized in the constructor.<--- Member variable 'StepBufferElement::isProtected' is not initialized in the constructor.<--- Struct 'StepBufferElement' has a constructor with 1 argument that is not explicit. [+]Struct 'StepBufferElement' has a constructor with 1 argument that is not explicit. Such constructors should in general be explicit for type safety reasons. Using the explicit keyword in the constructor means some mistakes when using the class can be avoided.
SET(Pose2D,Pose, pose);
SET(double,SpeedDirection, speedDirection);
SET(StepType,StepType,type);
SET(int,Time,time);
SET(double,Character,character);
SET(double,Scale,scale);
SET(Foot,Foot,foot);
SET(WalkRequest::Coordinate,Coordinate,coordinate);
SET(RestrictionMode,Restriction,restriction);
SET(bool,Protected,isProtected);
public:
std::string debug_name;
};
std::vector<StepBufferElement> stepBuffer;
// Used to alternate between left and right foot
// or to specify which foot to use
Foot footToUse;
// Used to synchronize stepIDs of WalkEngine to take control
unsigned int lastStepRequestID;
void addStep(const StepBufferElement& new_step);
void updateSpecificStep(const unsigned int index, StepBufferElement& step);
void manageStepBuffer();
void executeStepBuffer();
private:
bool kickPlanned;
};
#endif // _PathPlanner2018_H_
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