WalkEngineNode< W, mcName, mcDesc > Class Template Reference
#include <WalkNode.h>
Inheritance diagram for WalkEngineNode< W, mcName, mcDesc >:
Detailed Description
template<typename W, const char * mcName = defWalkNodeName, const char * mcDesc = defWalkNodeDesc>
class WalkEngineNode< W, mcName, mcDesc >
A StateNode for walking in a direction, use the template parameter to specify a custom walk MC, or use the WalkNode typedef to accept the "default" walk.
Definition at line 21 of file WalkNode.h.
Public Types | |
| VelocityWalkMode | |
| x, y, a will be interpreted as mm/s | |
| DistanceWalkMode | |
| x, y, a will be interpreted as millimeters | |
| enum | WalkMode_t { VelocityWalkMode, DistanceWalkMode } |
| lets us interpret values as either distances or velocities More... | |
Public Member Functions | |
| WalkEngineNode () | |
| constructor | |
| WalkEngineNode (float xvel, float yvel, float avel) | |
| constructor, positive yvel is counter-clockwise from above (to match coordinate system), assumes velocity | |
| WalkEngineNode (float xdist, float ydist, float adist, int steps) | |
| constructor, positive yvel is counter-clockwise from above (to match coordinate system), assumes distance | |
| WalkEngineNode (const std::string &name, float xvel, float yvel, float avel) | |
| constructor, positive yvel is counter-clockwise from above (to match coordinate system), assumes velocity | |
| WalkEngineNode (const std::string &name, float xdist, float ydist, float adist, int steps) | |
| constructor, positive yvel is counter-clockwise from above (to match coordinate system), assumes distance | |
| ~WalkEngineNode () | |
| destructor | |
| void | setDisplacement (float xdist, float ydist, float adist, int steps=-1) |
| sets the velocity of the walk | |
| void | setVelocity (float xvel, float yvel, float avel, int np=-1) |
| sets the velocity of the walk | |
| void | setXVelocity (float xvel) |
| sets the velocity in x direction (positive is forward) | |
| float | getX () |
| returns the velocity in x direction (positive is forward) | |
| void | setYVelocity (float yvel) |
| sets the velocity in y direction (positive is left) | |
| float | getY () |
| returns the velocity in y direction (positive is left) | |
| void | setAVelocity (float avel) |
| sets the velocity of the turn, positive is counter-clockwise from above (to match coordinate system) | |
| float | getA () |
| returns the velocity of the turn (positive is counter-clockwise from above (to match coordinate system)) | |
| int | getSteps () |
| returns the number of steps being taken (not necessarily the number *remaining*) | |
| virtual void | DoStart () |
| Adds the motion command to the motion manager, add a listener for the motion's completion event. | |
Protected Member Functions | |
| WalkEngineNode (const std::string &className, const std::string &instanceName, float xvel, float yvel, float avel) | |
| constructor, positive yvel is counter-clockwise from above (to match coordinate system), assumes velocity | |
| WalkEngineNode (const std::string &className, const std::string &instanceName, float xdist, float ydist, float adist, int steps) | |
| constructor, positive yvel is counter-clockwise from above (to match coordinate system), assumes distance | |
| void | storeValues (float xp, float yp, float ap, int np, WalkMode_t wmode) |
| stores the values and if active, calls updateWMC() | |
| void | updateWMC () |
| makes the appropriate calls on the WalkMC | |
Protected Attributes | |
| float | x |
| velocity in x direction (positive is forward), or distance if walkMode is DistanceWalkMode | |
| float | y |
| velocity in y direction (positive is dog's left), or distance if walkMode is DistanceWalkMode | |
| float | a |
| velocity of the turn, positive is counter-clockwise from above (to match coordinate system), or distance if walkMode is DistanceWalkMode | |
| int | n |
| number of steps (-1 means walk forever) | |
| WalkMode_t | walkMode |
| the current interpretation of x, y, and a | |
Member Enumeration Documentation
template<typename W, const char * mcName = defWalkNodeName, const char * mcDesc = defWalkNodeDesc>
| enum WalkEngineNode::WalkMode_t |
Member Function Documentation
template<typename W, const char * mcName = defWalkNodeName, const char * mcDesc = defWalkNodeDesc>
| void WalkEngineNode< W, mcName, mcDesc >::setDisplacement | ( | float | xdist, | |
| float | ydist, | |||
| float | adist, | |||
| int | steps = -1 | |||
| ) | [inline] |
sets the velocity of the walk
- Parameters:
-
xdist x displacement (mm, positive is forward) ydist y displacement (mm, positive is left) adist angular displacement (rad, positive is counter-clockwise) steps how many steps to take to achieve displacement (velocity depends on walk's cycle time parameter)
Definition at line 63 of file WalkNode.h.
template<typename W, const char * mcName = defWalkNodeName, const char * mcDesc = defWalkNodeDesc>
| void WalkEngineNode< W, mcName, mcDesc >::setVelocity | ( | float | xvel, | |
| float | yvel, | |||
| float | avel, | |||
| int | np = -1 | |||
| ) | [inline] |
sets the velocity of the walk
- Parameters:
-
xvel x velocity (mm/s, positive is forward) yvel y velocity (mm/s, positive is left) avel angular velocity (rad/s, positive is counter-clockwise) np how many steps to take at specified velocity (resulting distance depends on walk's cycle time parameter)
Definition at line 72 of file WalkNode.h.
The documentation for this class was generated from the following file:
