MotionSequenceMC< MAXMOVE > Class Template Reference
#include <MotionSequenceMC.h>
Inheritance diagram for MotionSequenceMC< MAXMOVE >:
Detailed Description
template<unsigned int MAXMOVE>
class MotionSequenceMC< MAXMOVE >
Instantiates MotionSequenceEngines - when you want to run a motion sequence, make one of these.
Allows a compile-time variable amount of data storage through its template parameter.
- See also:
- MotionSequenceEngine for the majority of the usage documentation
TinyMotionSequenceMC, SmallMotionSequenceMC, MediumMotionSequenceMC, LargeMotionSequenceMC, XLargeMotionSequenceMC
Definition at line 16 of file MotionSequenceMC.h.
Public Member Functions | |
| MotionSequenceMC () | |
| constructor | |
| MotionSequenceMC (const std::string &filename) | |
| constructor, loads from a file and then resets the playtime to beginning and begins to play | |
| virtual | ~MotionSequenceMC () |
| 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 | |
Static Public Attributes | |
| static const unsigned int | CAPACITY = MAXMOVE |
| allows recovery of capacity in a general way (MAXMOVE may, and probably will, be obscured by a typedef) | |
Protected Types | |
|
typedef ListMemBuf< Move, MAXMOVE, Move_idx_t > | 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 | |
| bool | lastDirty |
| true if last updateOutputs was dirty, so we know when to post status event | |
Member Function Documentation
| virtual int MotionSequenceMC< MAXMOVE >::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 38 of file MotionSequenceMC.h.
| virtual int MotionSequenceMC< MAXMOVE >::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 37 of file MotionSequenceMC.h.
| virtual int MotionSequenceMC< MAXMOVE >::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 41 of file MotionSequenceMC.h.
The documentation for this class was generated from the following file:
