/*! @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); }