TailWagMC Class Reference
#include <TailWagMC.h>
Inheritance diagram for TailWagMC:
Detailed Description
A simple motion command for wagging the tail - you can specify period, magnitude, and tilt.
Definition at line 14 of file TailWagMC.h.
Public Member Functions | |
| TailWagMC () | |
| constructor | |
| TailWagMC (unsigned int cyc_period, float cyc_magnitude) | |
| constructor | |
| virtual | ~TailWagMC () |
| destructor | |
| 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 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 | |
| void | setPeriod (unsigned int p) |
| sets the period of time between swings, in milliseconds | |
| unsigned int | getPeriod () const |
| gets the period of time between swings, in milliseconds | |
| void | setMagnitude (double mag) |
| sets the magnitude of swings, in radians | |
| double | getMagnitude () const |
| gets the magnitude of swings, in radians | |
| void | setTilt (double r) |
| sets the tilt of the tail while wagging, in radians | |
| void | unsetTilt () |
| makes the tilt control unspecified, will let something else control tilt | |
| double | getTilt () const |
| gets the tilt of the tail while wagging, in radians | |
| double | getPan () const |
| returns the most recent pan value of the tail while wagging, in radians | |
| bool | getActive () |
| returns true if this is currently trying to wag the tail | |
| void | setActive (bool a) |
| turns the tail wagger on or off | |
Protected Attributes | |
| unsigned int | period |
| period of time between swings, in milliseconds | |
| double | magnitude |
| magnitude of swings, in radians | |
| unsigned int | offset |
| offset in the period, only used if period is changed to avoid twitching | |
| bool | active |
| true if this is currently trying to wag the tail | |
| float | last_pan |
| last tail position | |
| int | last_sign |
| sign of tail movement direction | |
| OutputCmd | tilt |
| holds current setting for the tilt joint | |
| OutputCmd | pans [NumFrames] |
| holds commands for planning ahead the wagging | |
Member Function Documentation
| virtual int TailWagMC::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 62 of file TailWagMC.h.
| virtual int TailWagMC::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 60 of file TailWagMC.h.
| void TailWagMC::setPeriod | ( | unsigned int | p | ) | [inline] |
sets the period of time between swings, in milliseconds
a bit complicated in order to avoid jerking around when the period changes
Definition at line 66 of file TailWagMC.h.
| virtual int TailWagMC::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 30 of file TailWagMC.h.
The documentation for this class was generated from the following file:
