UPennWalkMC Class Reference
#include <UPennWalkMC.h>
Inheritance diagram for UPennWalkMC:
Detailed Description
Uses the UPennalizers' 2004 RoboCup code to compute walking gaits.This class is ported from University of Pennsylvania's 2004 Robosoccer entry, and falls under their license: ========================================================================= This software is distributed under the GNU General Public License, version 2. If you do not have a copy of this licence, visit www.gnu.org, or write: Free Software Foundation, 59 Temple Place, Suite 330 Boston, MA 02111-1307 USA. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY, including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. =========================================================================
Definition at line 20 of file UPennWalkMC.h.
Public Member Functions | |
| UPennWalkMC () | |
| constructor | |
| 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 | setTargetVelocity (float x, float y, float a) |
Protected Member Functions | |
| void | SetLegJoints (double *x) |
| void | SetStanceParameters (double bodyTilt, double shoulderHeight, double foreX0, double foreY0, double hindX0, double hindY0) |
| void | SetWalkSpeeds (int quarterPeriod, double maxDistance, double foreLiftInitial, double foreLiftFinal, double hindLiftInitial, double hindLiftFinal) |
| void | SetWalkWorkspace (double foreXMin, double foreXMax, double foreYMin, double foreYMax, double hindXMin, double hindXMax, double hindYMin, double hindYMax) |
| void | LegPositionsToAngles (double *a) |
| Calculate 12 leg joint angles from leg positions. | |
| void | StandLegs (double x=0, double y=0, double z=0) |
| int | GetWalkPhase () |
| void | SetWalkPhase (int phase) |
| void | WalkLegs (double xWalk=0.0, double yWalk=0.0, double aWalk=0.0) |
Static Protected Member Functions | |
| static double | clip (double x, double min=-1.0, double max=1.0) |
Protected Attributes | |
| float | xVel |
| float | yVel |
| float | aVel |
| double | body_tilt |
| double | shoulder_height |
| double | fore_x0 |
| double | fore_y0 |
| double | hind_x0 |
| double | hind_y0 |
| int | walk_phase |
| int | walk_phase_direction |
| int | walk_quarter_period |
| double | walk_max_distance |
| double | walk_fore_lift_initial |
| double | walk_fore_lift_final |
| double | walk_hind_lift_initial |
| double | walk_hind_lift_final |
| double | walk_current_x [NumLegs] |
| double | walk_current_y [NumLegs] |
| double | walk_fore_xmin |
| double | walk_fore_xmax |
| double | walk_fore_ymin |
| double | walk_fore_ymax |
| double | walk_hind_xmin |
| double | walk_hind_xmax |
| double | walk_hind_ymin |
| double | walk_hind_ymax |
Member Function Documentation
| virtual int UPennWalkMC::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 34 of file UPennWalkMC.h.
| virtual int UPennWalkMC::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 33 of file UPennWalkMC.h.
| void UPennWalkMC::LegPositionsToAngles | ( | double * | a | ) | [protected] |
Calculate 12 leg joint angles from leg positions.
Note positions are relative to stance parameters so all zero inputs -> stance angles
Definition at line 225 of file UPennWalkMC.cc.
Referenced by StandLegs(), and WalkLegs().
| virtual int UPennWalkMC::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 25 of file UPennWalkMC.h.
The documentation for this class was generated from the following files:
