Representations/Motion/MotionRequest.h File Reference

This file contains the MotionRequest class as well as SpecialActionRequest and WalkingRequest classes. More...

#include "Tools/Streams/InOut.h"
#include "Tools/Math/Pose2D.h"

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Classes
class	SpecialActionRequest
class	WalkRequest
class	TailRequest
class	MotionRequest
	This describes the MotionRequest. More...
walking max speeds
Attention: These values are implementation independent maximum speeds. They dont reflect speeds reached with current walking engine implementations. They should be used e.g. for the Motion Tester and for the behavior to walk with maximum speed.
const double	walkMaxForwardSpeed = 450.0
	the maximum forward speed for walk in mm/s
const double	walkMaxBackwardSpeed = 350.0
	the maximum backward speed for walk in mm/s
const double	walkMaxLeftRightSpeed = 400.0
	the maximum sideward left/right speed for walk in mm/s
const double	walkMaxRotationSpeed = fromDegrees(250)
	the maximum rotation speed for walk in rad/s
Functions
In &	operator>> (In &stream, MotionRequest &motionRequest)
	Streaming operator that reads a MotionRequest from a stream.
Out &	operator<< (Out &stream, const MotionRequest &motionRequest)
	Streaming operator that writes a MotionRequest to a stream.

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Detailed Description

This file contains the MotionRequest class as well as SpecialActionRequest and WalkingRequest classes.

Author:

Ronnie Brunn

Nicolai Kuntze

Michael Kunz

Max Risler

Michael Spranger

Definition in file MotionRequest.h.

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Function Documentation

In& operator>> (  In &  stream, MotionRequest &  motionRequest )

Streaming operator that reads a MotionRequest from a stream. Parameters: stream  The stream from which is read. motionRequest  The MotionRequest object. Returns: The stream. Definition at line 56 of file MotionRequest.cpp. References In::read().

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Out& operator<< (  Out &  stream, const MotionRequest &  motionRequest )

Streaming operator that writes a MotionRequest to a stream. Parameters: stream  The stream to write on. motionRequest  The MotionRequest object. Returns: The stream. Definition at line 62 of file MotionRequest.cpp. References Out::write().

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Variable Documentation

const double walkMaxForwardSpeed = 450.0 [static]

the maximum forward speed for walk in mm/s Definition at line 29 of file MotionRequest.h.

const double walkMaxBackwardSpeed = 350.0 [static]

the maximum backward speed for walk in mm/s Definition at line 31 of file MotionRequest.h.

const double walkMaxLeftRightSpeed = 400.0 [static]

the maximum sideward left/right speed for walk in mm/s Definition at line 33 of file MotionRequest.h.

const double walkMaxRotationSpeed = fromDegrees(250) [static]

the maximum rotation speed for walk in rad/s Definition at line 35 of file MotionRequest.h.

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