00001 #ifndef MSH2004INVKINWALKINGENGINE_H 00002 #define MSH2004INVKINWALKINGENGINE_H 00003 00004 #include "InvKinWalkingEngine.h" 00005 #include "InvKinWalkingParameterSets.h" 00006 00007 /** 00008 * @author Thomas Kindler <thomas.kindler@gmx.de> 00009 */ 00010 class MSH2004InvKinWalkingEngine 00011 : public WalkingEngine 00012 { 00013 protected: 00014 InvKinWalkingEngine *pEngine; 00015 MSH2004WalkingParameters forward; 00016 MSH2004BackwardsWalkingParameters backward; 00017 00018 public: 00019 MSH2004InvKinWalkingEngine(InvKinWalkingEngine *pEngine); 00020 virtual bool executeParameterized( 00021 JointData& jointData, 00022 const WalkRequest& walkRequest, 00023 double positionInWalkingCycle 00024 ); 00025 virtual bool handleMessage(InMessage& message); 00026 }; 00027 00028 #endif 00029 00030 /* 00031 * Change log : 00032 * 00033 * $Log: MSH2004InvKinWalkingEngine.h,v $ 00034 * Revision 1.3 2004/06/07 18:47:50 spranger 00035 * extended interface of executeParametrized by positionInWalkCycle 00036 * 00037 * Revision 1.2 2004/06/02 17:18:22 spranger 00038 * MotionRequest cleanup 00039 * 00040 * Revision 1.1.1.1 2004/05/22 17:22:52 cvsadm 00041 * created new repository GT2004_WM 00042 * 00043 * Revision 1.3 2004/04/08 15:33:07 wachter 00044 * GT04 checkin of Microsoft-Hellounds 00045 * 00046 * Revision 1.6 2004/04/04 00:43:49 kindler 00047 * - now really really does the fast backwards thing (this time without annoying bugs ;) 00048 * 00049 * Revision 1.5 2004/04/01 10:09:55 kindler 00050 * - now really uses the faster backwars walk.. 00051 * 00052 * Revision 1.4 2004/03/31 12:48:55 pg_thki 00053 * - improved fast/conservative walking parameters heuristics. 00054 * - gives some debugging outputs (specially for tim, will be removed again later..). 00055 * 00056 * Revision 1.3 2004/03/30 16:45:25 pg_thki 00057 * - MSH2004WalkingEngine now uses different Parameters for forward and backward. 00058 * 00059 * Revision 1.2 2004/03/17 11:55:57 dueffert 00060 * warning removed; changelog added 00061 * 00062 */
1.3.6