Modules/WalkingEngine/InvKinWalkingParameters.h File Reference

Definition of class InvKinWalkingParameters. More...

#include "Tools/Evolution/Individual.h"
#include "Representations/Motion/JointData.h"
#include "GT2004ParameterSet.h"
#include <string.h>

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Classes
class	InvKinWalkingParameters
	Parameters for InvKinWalkingEngine. More...
class	InvKinWalkingParameters::CorrectionValues
	Factors to convert requested body speed to internal leg speed these values are read from odometry.cfg. More...
Defines
#define	interpolateInvalid(v1, v2, factor1)
Functions
In &	operator>> (In &stream, InvKinWalkingParameters &walkingParameters)
	Streaming operator that reads InvKinWalkingParameters from a stream.
Out &	operator<< (Out &stream, const InvKinWalkingParameters &walkingParameters)
	Streaming operator that writes InvKinWalkingParameters to a stream.

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Detailed Description

Definition of class InvKinWalkingParameters.

Author:

Max Risler

Definition in file InvKinWalkingParameters.h.

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Define Documentation

#define interpolateInvalid (  v1, v2, factor1   )

Value: (((v1==jointDataInvalidValue)||(v2==jointDataInvalidValue))? \ ((factor1<0.5)?v2:v1):(factor1*v1+(1-factor1)*v2)); Definition at line 389 of file InvKinWalkingParameters.h.

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Function Documentation

In& operator>> (  In &  stream, InvKinWalkingParameters &  walkingParameters )

Streaming operator that reads InvKinWalkingParameters from a stream. Parameters: stream  The stream from which is read. walkingParameters  The InvKinWalkingParameters object. Returns: The stream. Definition at line 226 of file InvKinWalkingParameters.cpp. References InvKinWalkingParameters::bodyShiftOffset, InvKinWalkingParameters::bodyShiftX, InvKinWalkingParameters::bodyShiftY, InvKinWalkingParameters::counterRotation, InvKinWalkingParameters::footMode, InvKinWalkingParameters::foreCenterX, InvKinWalkingParameters::foreFootLift, InvKinWalkingParameters::foreFootTilt, InvKinWalkingParameters::foreHeight, InvKinWalkingParameters::foreWidth, InvKinWalkingParameters::groundPhase, InvKinWalkingParameters::hindCenterX, InvKinWalkingParameters::hindFootLift, InvKinWalkingParameters::hindFootTilt, InvKinWalkingParameters::hindHeight, InvKinWalkingParameters::hindWidth, InvKinWalkingParameters::legPhase, InvKinWalkingParameters::legSpeedFactorR, InvKinWalkingParameters::legSpeedFactorX, InvKinWalkingParameters::legSpeedFactorY, InvKinWalkingParameters::liftPhase, InvKinWalkingParameters::loweringPhase, InvKinWalkingParameters::maxRotationChange, InvKinWalkingParameters::maxSpeedXChange, InvKinWalkingParameters::maxSpeedYChange, InvKinWalkingParameters::maxStepSizeX, InvKinWalkingParameters::maxStepSizeY, InvKinWalkingParameters::name, and InvKinWalkingParameters::stepLen.

Out& operator<< (  Out &  stream, const InvKinWalkingParameters &  walkingParameters )

Streaming operator that writes InvKinWalkingParameters to a stream. Parameters: stream  The stream to write on. walkingParameters  The InvKinWalkingParameters object. Returns: The stream. Definition at line 269 of file InvKinWalkingParameters.cpp. References InvKinWalkingParameters::bodyShiftOffset, InvKinWalkingParameters::bodyShiftX, InvKinWalkingParameters::bodyShiftY, InvKinWalkingParameters::counterRotation, InvKinWalkingParameters::footMode, InvKinWalkingParameters::foreCenterX, InvKinWalkingParameters::foreFootLift, InvKinWalkingParameters::foreFootTilt, InvKinWalkingParameters::foreHeight, InvKinWalkingParameters::foreWidth, InvKinWalkingParameters::groundPhase, InvKinWalkingParameters::hindCenterX, InvKinWalkingParameters::hindFootLift, InvKinWalkingParameters::hindFootTilt, InvKinWalkingParameters::hindHeight, InvKinWalkingParameters::hindWidth, InvKinWalkingParameters::legPhase, InvKinWalkingParameters::legSpeedFactorR, InvKinWalkingParameters::legSpeedFactorX, InvKinWalkingParameters::legSpeedFactorY, InvKinWalkingParameters::liftPhase, InvKinWalkingParameters::loweringPhase, InvKinWalkingParameters::maxRotationChange, InvKinWalkingParameters::maxSpeedXChange, InvKinWalkingParameters::maxSpeedYChange, InvKinWalkingParameters::maxStepSizeX, InvKinWalkingParameters::maxStepSizeY, InvKinWalkingParameters::name, and InvKinWalkingParameters::stepLen.

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