/*! @brief Returns true if the trial path has been completed */
bool EvaluateWalkParametersState::allPointsReached()
{
if (not pointReached())
return false;
else
{
if (m_current_point_index == m_way_points.size()-1)
return true;
else
return false;
}
}
void paint::printCoordinates() {
std::ofstream fout ("points.txt");
fout << useful_points_count << std::endl;
for (int pos = 0; pos < useful_points_count; pos++) {
fout << points[pos].x << ' ' << points[pos].y << std::endl;
}
fout.close();
emit pointReached(0, points);
action(this);
for (int pos = 0; pos < useful_points_count; pos++) {
ui->plainTextEdit->appendPlainText(QString::number(pos) + ' ' + QString::number(points[pos].x) + ',' + QString::number(points[pos].y));
}
}
/*! @brief Do the state behaviour */
void EvaluateWalkParametersState::doState()
{
#if DEBUG_BEHAVIOUR_VERBOSITY > 3
debug << "EvaluateWalkParametersState::doState() target: " << m_current_target_state << endl;
#endif
if (m_parent->stateChanged())
start();
else
tick();
lookAtGoals();
if (pointReached())
m_current_target_state = getNextPoint();
vector<float> speed = BehaviourPotentials::goToFieldState(m_field_objects->self, m_current_target_state, 0, 20, 5000);
m_jobs->addMotionJob(new WalkJob(speed[0], speed[1], speed[2]));
}
void paint::pointReachEvent(int pos) {
emit pointReached(pos, points);
}
