void KeySymbols::registerSymbols(xabsl::Engine& engine)
{
engine.registerBooleanInputSymbol("key.right_foot_right_button_pressed_and_released", &pressed_and_released[KeyStates::rightFootRight]);
engine.registerBooleanInputSymbol("key.left_foot_right_button_pressed_and_released", &pressed_and_released[KeyStates::leftFootRight]);
engine.registerBooleanInputSymbol("key.left_foot_left_button_pressed_and_released", &pressed_and_released[KeyStates::leftFootLeft]);
engine.registerBooleanInputSymbol("key.right_foot_left_button_pressed_and_released", &pressed_and_released[KeyStates::rightFootLeft]);
engine.registerBooleanInputSymbol("key.chest_button_pressed_and_released", &pressed_and_released[KeyStates::chest]);
}
void BH2011BIKESymbols::registerSymbols(xabsl::Engine& engine)
{
engine.registerBooleanInputSymbol("motion.kick_forward", this, &BH2011BIKESymbols::getKickForward);
engine.registerBooleanInputSymbolDecimalParameter("motion.kick_forward", "motion.kick_forward.y", &ballY);
engine.registerBooleanInputSymbolDecimalParameter("motion.kick_forward", "motion.kick_forward.x", &ballX);
engine.registerBooleanInputSymbolBooleanParameter("motion.kick_forward", "motion.kick_forward.mirror", &mirror);
engine.registerBooleanInputSymbolBooleanParameter("motion.kick_forward", "motion.kick_forward.updates", &updates);
engine.registerBooleanOutputSymbol("bike.update", &updating);
}
void SoundSymbols::registerSymbols(xabsl::Engine& engine)
{
// register the sound enums
engine.registerEnumElement("sound", "sound.off", 0);
engine.registerEnumElement("sound", "sound.victory", 1);
engine.registerEnumElement("sound", "sound.asta_la_vista", 2);
engine.registerEnumElement("sound", "sound.penalized", 3);
engine.registerEnumElement("sound", "sound.playing", 4);
engine.registerEnumElement("sound", "sound.battery_low", 5);
engine.registerEnumeratedOutputSymbol("sound.request", "sound", &setSoundRequest, &getSoundRequest);
}//end registerSymbols
void BH2009ObstacleSymbols::registerSymbols(xabsl::Engine& engine)
{
engine.registerDecimalInputSymbol("obstacle.distance_to_left_obstacle", &obstacleModel.distanceToLeftObstacle);
engine.registerDecimalInputSymbol("obstacle.distance_to_right_obstacle", &obstacleModel.distanceToRightObstacle);
engine.registerDecimalInputSymbol("obstacle.distance_to_center_left_obstacle", &obstacleModel.distanceToCenterLeftObstacle);
engine.registerDecimalInputSymbol("obstacle.distance_to_center_right_obstacle", &obstacleModel.distanceToCenterRightObstacle);
engine.registerDecimalInputSymbol("obstacle.distance_to_closest_obstacle", &distanceToClosestObstacle);
engine.registerDecimalInputSymbol("obstacle.distance_to_closest_left", &distanceToClosestObstacleLeft);
engine.registerDecimalInputSymbol("obstacle.distance_to_closest_right", &distanceToClosestObstacleRight);
}
void MathSymbols::registerSymbols(xabsl::Engine& engine)
{
// "atan2"
engine.registerDecimalInputSymbol("atan2", &getAtan2);
engine.registerDecimalInputSymbolDecimalParameter("atan2", "atan2.y", &atan2y);
engine.registerDecimalInputSymbolDecimalParameter("atan2", "atan2.x", &atan2x);
// "min"
engine.registerDecimalInputSymbol("min", &getMin);
engine.registerDecimalInputSymbolDecimalParameter("min", "min.value0", &min0Value);
engine.registerDecimalInputSymbolDecimalParameter("min", "min.value1", &min1Value);
// "max"
engine.registerDecimalInputSymbol("max", &getMax);
engine.registerDecimalInputSymbolDecimalParameter("max", "max.value0", &max0Value);
engine.registerDecimalInputSymbolDecimalParameter("max", "max.value1", &max1Value);
// "abs"
engine.registerDecimalInputSymbol("abs", &getAbs);
engine.registerDecimalInputSymbolDecimalParameter("abs", "abs.value", &absValue);
// "sgn"
engine.registerDecimalInputSymbol("sgn", &getSgn);
engine.registerDecimalInputSymbolDecimalParameter("sgn", "sgn.value", &sgnValue);
// "sin"
engine.registerDecimalInputSymbol("sin", &getSin);
engine.registerDecimalInputSymbolDecimalParameter("sin", "sin.angle", &alphaValue);
// "cos"
engine.registerDecimalInputSymbol("cos", &getCos);
engine.registerDecimalInputSymbolDecimalParameter("cos", "cos.angle", &alphaValue);
// "tan"
engine.registerDecimalInputSymbol("tan", &getTan);
engine.registerDecimalInputSymbolDecimalParameter("tan", "tan.angle", &alphaValue);
// "random"
engine.registerDecimalInputSymbol("random", &getRandom);
// "normalize"
engine.registerDecimalInputSymbol("normalize", &getNormalize);
engine.registerDecimalInputSymbolDecimalParameter("normalize", "normalize.angle", &normalizeAngle);
// "clip"
engine.registerDecimalInputSymbol("clip", &getClip);
engine.registerDecimalInputSymbolDecimalParameter("clip", "clip.value", &clipValue);
engine.registerDecimalInputSymbolDecimalParameter("clip", "clip.min", &clipMin);
engine.registerDecimalInputSymbolDecimalParameter("clip", "clip.max", &clipMax);
// "vector.abs"
engine.registerDecimalInputSymbol("vector.abs", &getVectorAbs);
engine.registerDecimalInputSymbolDecimalParameter("vector.abs", "vector.abs.x", &vectorAbsX);
engine.registerDecimalInputSymbolDecimalParameter("vector.abs", "vector.abs.y", &vectorAbsY);
}
void BH2011GoalSymbols::registerSymbols(xabsl::Engine& engine)
{
/*
* free part angles
*/
// angle to center of largest free part of opponent goal
engine.registerDecimalInputSymbol("opponent_goal.free_part.angle_to_center", this, &BH2011GoalSymbols::getCenterAngleOfFreePart);
// angle to outer side of largest free part of opponent goal
engine.registerDecimalInputSymbol("opponent_goal.free_part.angle_to_outer_side", this, &BH2011GoalSymbols::getOuterAngleOfFreePart);
// angle to inner side of largest free part of opponent goal
engine.registerDecimalInputSymbol("opponent_goal.free_part.angle_to_inner_side", this, &BH2011GoalSymbols::getInnerAngleOfFreePart);
// angle width of largest free part of opponent goal
engine.registerDecimalInputSymbol("opponent_goal.free_part.angle_width", this, &BH2011GoalSymbols::getOpeningAngleOfFreePart);
// angle tolerance to largest free part of opponent goal
// (how accurate will the robot be positioned)
engine.registerDecimalInputSymbol("opponent_goal.free_part.angle_tolerance", this, &BH2011GoalSymbols::getAngleToleranceToFreePart);
/*
* other perceptions
*/
// time since opponent goal was last seen in ms
engine.registerDecimalInputSymbol("opponent_goal.time_since_last_seen", &timeSinceOppGoalWasSeen);
// was the opponent goal recently seen?
engine.registerBooleanInputSymbol("opponent_goal.was_seen", &oppGoalWasSeen);
// time since any goal was last seen in ms
engine.registerDecimalInputSymbol("goal.time_since_last_seen_any_goal", &timeSinceAnyGoalWasSeen);
engine.registerDecimalInputSymbol("goal.time_since_last_seen", &timeSinceAnyGoalWasSeen);
// was any goal recently seen?
engine.registerBooleanInputSymbol("goal.was_seen", &goalWasSeen);
// count the number of seen goal posts in current ready state
engine.registerDecimalInputSymbol("goal.number_of_sightings_in_ready", &goalsSeenInReadyState);
// count the number of seen goal posts since last pickup
engine.registerDecimalInputSymbol("goal.number_of_sightings_since_last_pickup", &goalsSeenSinceLastPickup);
engine.registerDecimalInputSymbol("goal.angle_to_last_seen", this, &BH2011GoalSymbols::getAngleToLastSeen);
engine.registerDecimalInputSymbol("goal.distance_to_last_seen", this, &BH2011GoalSymbols::getDistanceToLastSeen);
}
void BH2011ObstacleSymbols::registerSymbols(xabsl::Engine& engine)
{
engine.registerDecimalInputSymbol("obstacle.distance_to_closest_center_left", this, &BH2011ObstacleSymbols::getDistanceToClosestCenterLeft);
engine.registerDecimalInputSymbol("obstacle.distance_to_closest_center_right", this, &BH2011ObstacleSymbols::getDistanceToClosestCenterRight);
engine.registerDecimalInputSymbol("obstacle.distance_to_closest_center", this, &BH2011ObstacleSymbols::getDistanceToClosestCenter);
engine.registerDecimalInputSymbol("obstacle.distance_to_closest", this, &BH2011ObstacleSymbols::getDistanceToClosest);
engine.registerDecimalInputSymbol("obstacle.angle_to_closest", this, &BH2011ObstacleSymbols::getAngleToClosest);
engine.registerDecimalInputSymbol("obstacle.free_kick_angle_left", this, &BH2011ObstacleSymbols::getFreeKickAngleLeft);
engine.registerDecimalInputSymbol("obstacle.free_kick_angle_right", this, &BH2011ObstacleSymbols::getFreeKickAngleRight);
engine.registerBooleanInputSymbol("obstacle.arm_left", this, &BH2011ObstacleSymbols::getArmLeft);
engine.registerBooleanInputSymbol("obstacle.arm_right", this, &BH2011ObstacleSymbols::getArmRight);
// Vision Based Obstacle Avoidance
engine.registerDecimalInputSymbol("obstacle.vision.leftRatio", &leftRatio);
engine.registerDecimalInputSymbol("obstacle.vision.rightRatio", &rightRatio);
engine.registerDecimalInputSymbol("obstacle.vision.leftRatioBall", &leftRatioBall);
engine.registerDecimalInputSymbol("obstacle.vision.rightRatioBall", &rightRatioBall);
engine.registerDecimalInputSymbol("obstacle.vision.leftRatioBallFiltered", &leftRatioBallFiltered);
engine.registerDecimalInputSymbol("obstacle.vision.rightRatioBallFiltered", &rightRatioBallFiltered);
}
void BH2009SoccerSymbols::registerSymbols(xabsl::Engine& engine)
{
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.unknown", BehaviorData::unknown);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.dribble", BehaviorData::dribble);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.go_to_ball", BehaviorData::goToBall);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.search_for_ball", BehaviorData::searchForBall);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.go_to_target", BehaviorData::goToTarget);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.prepare_kick", BehaviorData::prepareKick);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.kick", BehaviorData::kick);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.kick_sidewards", BehaviorData::kickSidewards);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.pass", BehaviorData::pass);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.block", BehaviorData::block);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.hold", BehaviorData::hold);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.stand_up", BehaviorData::standUp);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.patrol", BehaviorData::patrol);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.pass_before_goal", BehaviorData::passBeforeGoal);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.kickoff", BehaviorData::kickoff);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.wait_for_pass", BehaviorData::waitForPass);
engine.registerEnumElement("soccer.behavior_action", "soccer.behavior_action.prepare_pass", BehaviorData::preparePass);
engine.registerEnumeratedOutputSymbol("soccer.behavior_action", "soccer.behavior_action", (int*)&behaviorData.action);
engine.registerBooleanInputSymbol("soccer.disable_pre_initial", &disablePreInitialState);
engine.registerDecimalInputSymbol("soccer.opponent_goal_angle", &staticSoccerOpponentGoalAngle);
engine.registerDecimalInputSymbol("soccer.position_next_to_ball.x", &staticSoccerPositionNextBallX);
engine.registerDecimalInputSymbolBooleanParameter("soccer.position_next_to_ball.x", "soccer.position_next_to_ball.x.side", &sideLeft);
engine.registerDecimalInputSymbol("soccer.position_next_to_ball.y",&staticSoccerPositionNextBallY);
engine.registerDecimalInputSymbolBooleanParameter("soccer.position_next_to_ball.y", "soccer.position_next_to_ball.y.side", &sideLeft);
engine.registerDecimalInputSymbol("soccer.position_next_to_ball.angle", &staticSoccerAngleNextToBall);
engine.registerDecimalInputSymbolBooleanParameter("soccer.position_next_to_ball.angle", "soccer.position_next_to_ball.angle.side", &sideLeft);
engine.registerDecimalInputSymbol("soccer.position_behind_ball.x", &staticSoccerPositionBehindBallX);
engine.registerDecimalInputSymbol("soccer.position_behind_ball.y", &staticSoccerPositionBehindBallY);
engine.registerDecimalInputSymbol("soccer.position_behind_ball.angle", &staticSoccerPositionBehindBallAngle);
}