WalkCalibration Class Reference
#include <WalkCalibration.h>
Inheritance diagram for WalkCalibration:
Detailed Description
allows interactive calibration of a walk engineIn retrospect, this might have been a little easier to do as a ControlBase/StateNode multiple inheritance instead of ControlBase/EventListener... oh well.
Definition at line 17 of file WalkCalibration.h.
Public Member Functions | |
| WalkCalibration () | |
| constructor | |
| ~WalkCalibration () | |
| destructor | |
| virtual ControlBase * | activate (MotionManager::MC_ID disp_id, Socket *gui) |
| virtual void | refresh () |
| called when the child has deactivated and this control should refresh its display, or some other event (such as the user pressing the refresh button) has happened to cause a refresh to be needed | |
| virtual void | deactivate () |
| called when this control is being popped from the control stack | |
| virtual ControlBase * | doSelect () |
| when the user has trigger an "open selection" - default is to return the hilighted control*/ | |
| virtual void | processEvent (const EventBase &e) |
| listens for locomotion events so we know when to stop recording | |
| virtual ControlBase * | takeInput (const std::string &msg) |
| called when the user has supplied a text string (may or may not have been prompted by doReadStdIn()! May not even be active yet - the user can direct the same input to a set of hilighted menus) | |
| virtual void | setHilights (const std::vector< unsigned int > &hi) |
| sets the hilighted slots | |
| virtual void | hilightFirst () |
| sets the hilight to the first non-null slot | |
Protected Types | |
| ROOT | |
| indicates the root menu is currently displayed (save/load data sets...) | |
| CHOOSE | |
| indicates the sample type selection is displayed | |
| READY | |
| waiting for user to indicate 0 point | |
| MOVING | |
| recording, waiting for the motion stop event | |
| READING_1 | |
| waiting for user to supply the first measurement coordinate | |
| READING_2 | |
| waiting for user to supply the second measurement coordinate | |
| CLEAR | |
| clear data confirmation menu | |
| fs | |
| forward-sideways | |
| fr | |
| forward-rotate | |
| sr | |
| sideways-rotate | |
| br | |
| backward-rotate | |
| bs | |
| backward-sideways | |
| r | |
| pure rotation | |
| NUM_SRC | |
| number of data types | |
| enum | { ROOT, CHOOSE, READY, MOVING, READING_1, READING_2, CLEAR } |
| enum | dataSource { fs, fr, sr, br, bs, r, NUM_SRC } |
| allows representation of the current sample type More... | |
Protected Member Functions | |
| void | setupRoot () |
| sets state to root menu | |
| void | setupChoose () |
| sets state to choose type menu | |
| void | setupReady () |
| sets state to ready menu | |
| void | setupMoving () |
| sets state to moving menu | |
| void | setupReading1 () |
| sets state to enter first measurement menu | |
| void | setupReading2 () |
| sets state to enter second measurement menu | |
| void | setupClear () |
| sets state to clear confirmation menu | |
| unsigned int | getType () |
| returns current sample type | |
| unsigned int | getFirstIndex (dataSource t) |
| returns a name index for the first measurement type | |
| unsigned int | getSecondIndex (dataSource t) |
| returns a name index for the second measurement type | |
| char * | getIndexName (unsigned int t) |
| returns name for measurement type | |
| char * | getFirstMeasure (dataSource t) |
| returns name for first measurement type | |
| char * | getSecondMeasure (dataSource t) |
| returns name for second measurement type | |
| float | arclen (float d, float a, float sign) |
| calculates arc distance corresponding to a displacement and angle, negated if necessary to match sign | |
| void | addSample () |
| adds data point corresponding to measurements stored in firstIn and secondIn | |
| void | addSample (std::vector< float * > &dat, float x, float y, float a) |
| adds data point to dat for a given x,y,a (and old_x, old_y, old_a) | |
Static Protected Member Functions | |
| static void | loadData (const std::string &name, std::vector< float * > &data) |
| does the work of loading data sets | |
| static void | saveData (const std::string &name, const std::vector< float * > &data) |
| does the work of saving data sets | |
| static void | clearData (std::vector< float * > &data) |
| clears current data | |
| static void | report (unsigned int row, float cmd, float actual) |
| reports data as they are being taken | |
| static void | err (const std::string &str) |
| pops up an error message on the controller and also displays it on the console | |
Protected Attributes | |
| enum WalkCalibration:: { ... } | st |
| the currently active state | |
| enum WalkCalibration::dataSource | curType |
| allows representation of the current sample type the currently selected type of data being recorded | |
| float | old_x |
| the x velocity recorded when we started moving | |
| float | old_y |
| the y velocity recorded when we started moving | |
| float | old_a |
| the a velocity recorded when we started moving | |
| unsigned int | startTime |
| the time recording started | |
| unsigned int | stopTime |
| the time recording stopped | |
| ControlBase * | help |
| control holding help info | |
| FileInputControl * | load |
| control for loading data | |
| StringInputControl * | save |
| control for saving data | |
| ControlBase * | measure |
| control for taking measurements | |
| ControlBase * | clear |
| control for clearing data | |
| ToggleControl * | polar |
| control for selecting polar measurements for fs/bs | |
| ToggleControl * | rect |
| control for selecting cartesian measurements for fs/bs | |
| bool | isPolar |
| true if polar measurements is selected | |
| std::string | lastLoad |
| name last data file selected (so we know if a new has been selected | |
| float | firstIn |
| the input given for the first measurement | |
| float | secondIn |
| the input given for the second measurement | |
| std::vector< float * > | data [NUM_SRC] |
| an array of vectors of sample points (one veotor for each of the sample types) | |
| unsigned int | cnts [NUM_SRC] |
| count of samples for each sample type (cnts[i] should equal data[i].size()) | |
| std::string | status |
| string to send for ControllerGUI status message (current count of each sample type) | |
Static Protected Attributes | |
| static char * | datanames [NUM_SRC] = { "fs","fr","sr","br","bs","rr" } |
| name for each sample type | |
Private Member Functions | |
| WalkCalibration (const WalkCalibration &) | |
| don't call | |
| WalkCalibration & | operator= (const WalkCalibration &) |
| don't call | |
Member Enumeration Documentation
anonymous enum [protected] |
- Enumerator:
Definition at line 46 of file WalkCalibration.h.
enum WalkCalibration::dataSource [protected] |
allows representation of the current sample type
- Enumerator:
-
fs forward-sideways fr forward-rotate sr sideways-rotate br backward-rotate bs backward-sideways r pure rotation NUM_SRC number of data types
Definition at line 57 of file WalkCalibration.h.
Member Function Documentation
| ControlBase * WalkCalibration::doSelect | ( | ) | [virtual] |
when the user has trigger an "open selection" - default is to return the hilighted control*/
The value which is returned is then activate()ed and pushed on the Controller's stack
Reimplemented from ControlBase.
Definition at line 218 of file WalkCalibration.cc.
| ControlBase * WalkCalibration::takeInput | ( | const std::string & | msg | ) | [virtual] |
called when the user has supplied a text string (may or may not have been prompted by doReadStdIn()! May not even be active yet - the user can direct the same input to a set of hilighted menus)
The value which is returned is then activate()ed and pushed on the Controller's stack
Reimplemented from ControlBase.
Definition at line 301 of file WalkCalibration.cc.
The documentation for this class was generated from the following files:
