DynamicMotionSequence Class Reference
#include <DynamicMotionSequence.h>
Inheritance diagram for DynamicMotionSequence:
Detailed Description
Uses STL's vector for dynamic memory allocation - don't use this as a motion command, pointers in shared memory regions can be invalid in other processes.See MotionSequenceEngine for documentation on its members
Definition at line 13 of file DynamicMotionSequence.h.
Public Member Functions | |
| DynamicMotionSequence () | |
| constructor | |
| DynamicMotionSequence (const char *filename) | |
| constructor, loads from a file and then resets the playtime to beginning and begins to play | |
| virtual | ~DynamicMotionSequence () |
| destructor | |
| virtual int | isDirty () |
| not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful | |
| virtual int | isAlive () |
| used to prune "dead" motions from the MotionManager | |
| virtual int | updateOutputs () |
| is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager | |
| virtual void | clear () |
| empties out the sequence (constant time operation - faster than a series of pops) | |
| virtual unsigned int | getMaxFrames () const |
| returns the maximum number of key frames (Move's) which can be stored, determined by the instantiating MotionSequenceMC's template parameter | |
| virtual unsigned int | getUsedFrames () const |
| returns the number of used key frames (Move's) which have been stored by the instantiation MotionSequenceEngine subclass | |
Protected Types | |
| typedef std::vector< Move > | list_t |
| shorthand for the ListMemBuf that stores all of the movement frames | |
Protected Member Functions | |
| virtual Move & | getKeyFrame (Move_idx_t x) |
| returns moves[x] | |
| virtual const Move & | getKeyFrame (Move_idx_t x) const |
| returns moves[x] | |
| virtual Move_idx_t | newKeyFrame () |
| causes subclass to create a new Move structure, returns its index | |
| virtual void | eraseKeyFrame (Move_idx_t x) |
| marks keyframe x unused | |
| bool | setRange (unsigned int t, Move_idx_t &prev, Move_idx_t &next) const |
| advances (or rewinds) prev and next so that t falls between them | |
Protected Attributes | |
| list_t | moves |
| stores all of the movement keyframes | |
| std::vector< Move_idx_t > | erased |
| recycles erased keyframes, can't just shift elements in moves, it would throw of index numbers in Move structures | |
Member Function Documentation
| virtual int DynamicMotionSequence::isAlive | ( | ) | [inline, virtual] |
used to prune "dead" motions from the MotionManager
note that a motion could be "paused" or inactive and therefore not dirty, but still alive, biding its time to "strike" ;)
- Returns:
- zero if the motion is still processing, non-zero otherwise
Implements MotionCommand.
Definition at line 37 of file DynamicMotionSequence.h.
| virtual int DynamicMotionSequence::isDirty | ( | ) | [inline, virtual] |
not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful
- Returns:
- zero if none of the commands have changed since last getJointCmd(), else non-zero
Implements MotionCommand.
Definition at line 36 of file DynamicMotionSequence.h.
| virtual int DynamicMotionSequence::updateOutputs | ( | ) | [inline, virtual] |
is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager
- Returns:
- zero if no changes were made, non-zero otherwise
- See also:
- RobotInfo::NumFrames
Implements MotionCommand.
Definition at line 39 of file DynamicMotionSequence.h.
The documentation for this class was generated from the following file:
