OldHeadPointerMC Class Reference
#include <OldHeadPointerMC.h>
Inheritance diagram for OldHeadPointerMC:
Detailed Description
This class gives some quick and easy functions to point the head at things.
Definition at line 10 of file OldHeadPointerMC.h.
Public Types | |
| BodyRelative | |
| holds neck at a specified position, like a PostureEngine, but neck specific | |
| enum | CoordFrame_t { BodyRelative } |
| Various modes the head can be in. In the future may want to add ability to explicitly track an object or point in the world model. More... | |
Public Member Functions | |
| OldHeadPointerMC () | |
| constructor, defaults to active, BodyRelative, all joints at 0 | |
| virtual | ~OldHeadPointerMC () |
| destructor | |
| void | setWeight (double w) |
| sets the weight values for all the neck joints | |
| void | setWeight (RobotInfo::TPROffset_t i, double weight) |
| set a specific head joint weight, pass one of RobotInfo::TPROffset_t, not a full offset! | |
| void | setActive (bool a) |
| sets active flag; see isDirty() | |
| bool | getActive () const |
| returns active flag, see isDirty() | |
| void | noMaxSpeed () |
| sets maxSpeed to 0 (no maximum) | |
| void | defaultMaxSpeed () |
| restores maxSpeed to default settings from Config::Motion_Config | |
| void | setMaxSpeed (TPROffset_t i, float x) |
| sets maxSpeed in rad/sec | |
| float | getMaxSpeed (TPROffset_t i) |
| returns maxSpeed in rad/sec | |
| double | convert (RobotInfo::TPROffset_t i, double v, CoordFrame_t srcmode, CoordFrame_t tgtmode) const |
| converts a value v in srcmode to a value in tgtmode that would leave the joint angle for joint i constant (you probably won't need to call this directly) | |
Joint Accessors | |
Note that none of these are virtual, so you don't have to checkout to use them, you should be able to use MotionManager::peekMotion() | |
| void | setJoints (double tilt, double pan, double roll) |
| Directly sets the neck values (radians), uses current mode. | |
| void | setMode (CoordFrame_t m, bool convert=true) |
| sets all the joints to the given mode, will convert the values to the new mode if convert is true | |
| void | setJointMode (RobotInfo::TPROffset_t i, CoordFrame_t m, bool convert=true) |
| sets a specific head joint's mode; will convert from previous mode's value to next mode's value if convert is true. Pass one of RobotInfo::TPROffset_t, not a full offset! | |
| void | setJointValue (RobotInfo::TPROffset_t i, double value) |
| set a specific head joint's value (in radians, for whatever mode it's in), pass one of RobotInfo::TPROffset_t, not a full offset! | |
| void | setJointValueAndMode (RobotInfo::TPROffset_t i, double value, CoordFrame_t m) |
| set a specific head joint (in radians), pass one of RobotInfo::TPROffset_t, not a full offset! | |
| void | setJointValueFromMode (RobotInfo::TPROffset_t i, double value, CoordFrame_t m) |
| set a specific head joint (in radians) auto converting value from mode m to the current mode, pass one of RobotInfo::TPROffset_t, not a full offset! | |
| CoordFrame_t | getJointMode (RobotInfo::TPROffset_t i) const |
| returns the current mode for joint i (use RobotInfo::TPROffset_t, not global offset) | |
| double | getJointValue (RobotInfo::TPROffset_t i) const |
| returns the target value (relative to the current mode) of joint i. Use getOutputCmd() if you want to know the current commanded joint value; To get the current joint position, look in WorldState | |
Inherited: | |
| virtual int | updateOutputs () |
| Updates where the head is looking. | |
| virtual const OutputCmd & | getOutputCmd (unsigned int i) |
| returns one of the headCmds entries or unusedJoint if not a head joint | |
| virtual int | isDirty () |
| true if a change has been made since the last updateJointCmds() and we're active | |
| virtual int | isAlive () |
| Updates where the head is looking. | |
| virtual void | DoStart () |
| Updates where the head is looking. | |
Protected Member Functions | |
| double | convToBodyRelative (TPROffset_t i, double v, CoordFrame_t mode) const |
| converts to a body relative measurement for joint i | |
| double | convFromBodyRelative (TPROffset_t i, double v, CoordFrame_t mode) const |
| converts from a body relative measurement for joint i | |
Static Protected Member Functions | |
| static float | normalizeAngle (float x) |
| static float | clipAngularRange (unsigned int i, float x) |
| if x is outside of the range of joint i, it is set to either the min or the max, whichever is closer | |
Protected Attributes | |
| bool | dirty |
| true if a change has been made since last call to updateJointCmds() | |
| bool | active |
| set by accessor functions, defaults to true | |
| bool | targetReached |
| false if the head is still moving towards its target | |
| OutputCmd | headCmds [NumHeadJoints] |
| stores the last values we sent from updateOutputs | |
| float | headTargets [NumHeadJoints] |
| stores the target value of each joint, relative to headModes | |
| CoordFrame_t | headModes [NumHeadJoints] |
| stores the current mode of each joint, for instance so tilt can be GravityRelative while pan is static | |
| float | maxSpeed [NumHeadJoints] |
| initialized from Config::motion_config, but can be overridden by setMaxSpeed(); rad per frame | |
Member Enumeration Documentation
Various modes the head can be in. In the future may want to add ability to explicitly track an object or point in the world model.
- Enumerator:
-
BodyRelative holds neck at a specified position, like a PostureEngine, but neck specific
Definition at line 19 of file OldHeadPointerMC.h.
Member Function Documentation
| double OldHeadPointerMC::convFromBodyRelative | ( | TPROffset_t | i, | |
| double | v, | |||
| CoordFrame_t | mode | |||
| ) | const [protected] |
converts from a body relative measurement for joint i
- Todo:
- this is perhaps a bit amateurish - could be more accurate
Definition at line 142 of file OldHeadPointerMC.cc.
Referenced by convert().
| double OldHeadPointerMC::convToBodyRelative | ( | TPROffset_t | i, | |
| double | v, | |||
| CoordFrame_t | mode | |||
| ) | const [protected] |
converts to a body relative measurement for joint i
- Todo:
- this is perhaps a bit amateurish - could be more accurate
Definition at line 106 of file OldHeadPointerMC.cc.
Referenced by convert(), and updateOutputs().
| static float OldHeadPointerMC::normalizeAngle | ( | float | x | ) | [inline, static, protected] |
puts x in the range (-pi,pi)
Definition at line 91 of file OldHeadPointerMC.h.
Referenced by clipAngularRange().
The documentation for this class was generated from the following files:
