public class Walk extends SingleComplexBehavior implements IWalk
Constructor and Description |
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Walk(IThoughtModel thoughtModel,
ParameterMap params,
java.util.Map<java.lang.String,IBehavior> behaviors,
IBaseWalk baseWalk)
Constructor
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Walk(java.lang.String name,
IThoughtModel thoughtModel,
ParameterMap params,
java.util.Map<java.lang.String,IBehavior> behaviors,
IBaseWalk baseWalk)
Constructor
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Modifier and Type | Method and Description |
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IBehavior |
decideNextBasicBehavior()
Decide for a single next behavior.
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void |
globalWalk(Pose2D walkTo,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D speedThere,
double minSpeedForward,
double minSpeedSideward,
double maxSpeedForward,
boolean hurry)
Set parameters to walk in a global direction
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void |
walk(double forwards_backwards,
double step_left_right,
double turn_left_right)
Set parameters for Walk.
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void |
walk(double forwards_backwards,
double step_left_right,
double turn_left_right,
double maxSpeedForward,
boolean hurry)
Set parameters for Walk.
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abort, getCurrentBehavior, getCurrentBehaviorchain, getRootBehavior, init, isBehaviorInExecution, isFinished, onLeavingBehavior, perform, switchFrom, toString
getConsecutivePerforms, getIntensity, getName, getPerforms, getSuccessfulPerforms, getUnsuccessfulPerforms, reload, setIntensity, setName, stayIn
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
abort, getConsecutivePerforms, getIntensity, getName, getPerforms, getRootBehavior, getSuccessfulPerforms, getUnsuccessfulPerforms, init, isFinished, onLeavingBehavior, perform, reload, setIntensity, stayIn, switchFrom
public Walk(java.lang.String name, IThoughtModel thoughtModel, ParameterMap params, java.util.Map<java.lang.String,IBehavior> behaviors, IBaseWalk baseWalk)
thoughtModel
- Reference to the thought model objectparams
- Behavior parametersbehaviors
- List of available behaviorspublic Walk(IThoughtModel thoughtModel, ParameterMap params, java.util.Map<java.lang.String,IBehavior> behaviors, IBaseWalk baseWalk)
thoughtModel
- Reference to the thought model objectparams
- Behavior parametersbehaviors
- List of available behaviorspublic void walk(double forwards_backwards, double step_left_right, double turn_left_right)
public void walk(double forwards_backwards, double step_left_right, double turn_left_right, double maxSpeedForward, boolean hurry)
public void globalWalk(Pose2D walkTo, org.apache.commons.math3.geometry.euclidean.threed.Vector3D speedThere, double minSpeedForward, double minSpeedSideward, double maxSpeedForward, boolean hurry)
globalWalk
in interface IWalk
left_right
- negative = own goal; positive = opponent goalup_down
- negative = left field side; positive = right field sidedirection
- local angle where to gopublic IBehavior decideNextBasicBehavior()
SingleComplexBehavior