GT2003MotionNetSpecialActions Class Reference

This module executes special actions by using the GT2003 motion net compiler. More...

#include <GT2003MotionNetSpecialActions.h>

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[legend]List of all members.

Public Member Functions
	GT2003MotionNetSpecialActions (SpecialActionsInterfaces &interfaces)
virtual bool	executeParameterized (SpecialActionRequest specialActionRequest, JointData &jointData)
	Executes the special action.
virtual bool	specialActionIsExecutableInWalkingCycle (int specialActionID, double walkCycle)
virtual bool	handleMessage (InMessage &message)
	Called from a MessageQueue to distribute messages.
Protected Member Functions
int	getMotionIndex (MotionRequest::MotionID motionType, SpecialActionRequest::SpecialActionID specialActionType)
	Get motion net motion index from motion type and special action id.
int	getMotionIndex (const SpecialActionRequest &request)
	Get motion net motion index from a MotionRequest.
bool	getNextData (const SpecialActionRequest &specialActionRequest)
	Get next motion node from motion net.
void	calculateJointData (JointData &jointData)
	Calculates the next joint data vector by interpolating if necessary.
void	readOdometryTable ()
	Read odometry table from file.
Protected Attributes
MotionNetData	motionNetData
	The motion data array.
short	currentNode
	Current motion net node.
JointData	currentData
	Current joint data.
JointData	lastData
	Last data for interpolation.
bool	lastDataValid
	Last data was set.
bool	interpolationMode
	True if values should be interpolated.
long	dataRepetitionLength
	Length of current data line in cycles.
long	dataRepetitionCounter
	Cycle counter for current data line.
OdometryEntry	odometryTable [SpecialActionRequest::numOfSpecialAction+1]
	Odometry data table Contains one entry for each motion describing robot movement per tick.
MotionInfo	motionInfoTable [SpecialActionRequest::numOfSpecialAction+1]
	Head states for each special action.
MotionRequest	executedMotionRequestTable [SpecialActionRequest::numOfSpecialAction+1]
	A table for the executed motion requests.
OdometryEntry	currentOdometry
	Odometry of current motion.
SpecialActionRequest::SpecialActionID	lastSpecialActionType
	type of last executed special action

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Detailed Description

This module executes special actions by using the GT2003 motion net compiler.

Definition at line 18 of file GT2003MotionNetSpecialActions.h.

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Constructor & Destructor Documentation

GT2003MotionNetSpecialActions::GT2003MotionNetSpecialActions (  SpecialActionsInterfaces &  interfaces  )

Definition at line 14 of file GT2003MotionNetSpecialActions.cpp. References SpecialActionRequest::specialActionType.

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Member Function Documentation

bool GT2003MotionNetSpecialActions::executeParameterized (  SpecialActionRequest  specialActionRequest, JointData &  jointData )  [virtual]

Executes the special action. Implements SpecialActions. Definition at line 208 of file GT2003MotionNetSpecialActions.cpp. References calculateJointData(), Pose2D::conc(), currentData, currentNode, currentOdometry, dataRepetitionCounter, getNextData(), lastData, lastDataValid, lastSpecialActionType, GT2003MotionNetSpecialActions::OdometryEntry::o, and GT2003MotionNetSpecialActions::OdometryEntry::type.

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bool GT2003MotionNetSpecialActions::specialActionIsExecutableInWalkingCycle (  int  specialActionID, double  walkCycle )  [virtual]

Implements SpecialActions. Definition at line 244 of file GT2003MotionNetSpecialActions.cpp. References OdometryData::leaveWalkCycleSections, GT2003MotionNetSpecialActions::OdometryEntry::o, odometryTable, and OdometryData::walkCycleDissection.

bool GT2003MotionNetSpecialActions::handleMessage (  InMessage &  message  )  [virtual]

Called from a MessageQueue to distribute messages. Parameters: message  The message that can be read. Returns: true if the message was read (handled). Reimplemented from Module. Definition at line 182 of file GT2003MotionNetSpecialActions.cpp. References InMessage::config, InMessage::getMessageID(), idMotionNet, MotionNetData::load(), and motionNetData.

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int GT2003MotionNetSpecialActions::getMotionIndex (  MotionRequest::MotionID  motionType, SpecialActionRequest::SpecialActionID  specialActionType )  [protected]

Get motion net motion index from motion type and special action id.

int GT2003MotionNetSpecialActions::getMotionIndex (  const SpecialActionRequest &  request  )  [protected]

Get motion net motion index from a MotionRequest.

bool GT2003MotionNetSpecialActions::getNextData (  const SpecialActionRequest &  specialActionRequest  )  [protected]

Get next motion node from motion net. Definition at line 118 of file GT2003MotionNetSpecialActions.cpp. References MotionInfo::bodyTilt, currentData, currentNode, currentOdometry, MotionNetNode::d, dataRepetitionCounter, dataRepetitionLength, MotionInfo::executedMotionRequest, interpolationMode, MotionNetData::label_extern_start, lastSpecialActionType, motionInfoTable, MotionInfo::motionIsStable, motionNetData, MotionRequest::motionType, MotionInfo::neckHeight, MotionNetData::nodeArray, odometryTable, MotionRequest::specialActionRequest, SpecialActionRequest::specialActionType, MotionNetNode::toExecutedMotionRequest(), MotionNetNode::toJointData(), and MotionNetNode::toPIDData(). Referenced by executeParameterized().

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void GT2003MotionNetSpecialActions::calculateJointData (  JointData &  jointData  )  [protected]

Calculates the next joint data vector by interpolating if necessary. Definition at line 192 of file GT2003MotionNetSpecialActions.cpp. References currentData, JointData::data, dataRepetitionCounter, dataRepetitionLength, interpolationMode, lastData, and lastDataValid. Referenced by executeParameterized().

void GT2003MotionNetSpecialActions::readOdometryTable (   )  [protected]

Read odometry table from file. Definition at line 31 of file GT2003MotionNetSpecialActions.cpp. References InStream< InFile, InConfig >::eof(), executedMotionRequestTable, InFile::exists(), getRobotConfiguration(), RobotConfiguration::getRobotDimensions(), idText, OdometryData::leaveWalkCycleSections, RobotDimensions::motionCycleTime, motionInfoTable, MotionRequest::motionType, MotionInfo::neckHeight, GT2003MotionNetSpecialActions::OdometryEntry::o, odometryTable, OUTPUT, MotionRequest::specialActionRequest, SpecialActionRequest::specialActionType, Pose2D::translation, GT2003MotionNetSpecialActions::OdometryEntry::type, OdometryData::walkCycleDissection, and Vector2< double >::x.

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Member Data Documentation

MotionNetData GT2003MotionNetSpecialActions::motionNetData [protected]

The motion data array. Definition at line 58 of file GT2003MotionNetSpecialActions.h. Referenced by getNextData(), and handleMessage().

short GT2003MotionNetSpecialActions::currentNode [protected]

Current motion net node. Definition at line 61 of file GT2003MotionNetSpecialActions.h. Referenced by executeParameterized(), and getNextData().

JointData GT2003MotionNetSpecialActions::currentData [protected]

Current joint data. Definition at line 64 of file GT2003MotionNetSpecialActions.h. Referenced by calculateJointData(), executeParameterized(), and getNextData().

JointData GT2003MotionNetSpecialActions::lastData [protected]

Last data for interpolation. Definition at line 66 of file GT2003MotionNetSpecialActions.h. Referenced by calculateJointData(), and executeParameterized().

bool GT2003MotionNetSpecialActions::lastDataValid [protected]

Last data was set. Definition at line 69 of file GT2003MotionNetSpecialActions.h. Referenced by calculateJointData(), and executeParameterized().

bool GT2003MotionNetSpecialActions::interpolationMode [protected]

True if values should be interpolated. Definition at line 71 of file GT2003MotionNetSpecialActions.h. Referenced by calculateJointData(), and getNextData().

long GT2003MotionNetSpecialActions::dataRepetitionLength [protected]

Length of current data line in cycles. Definition at line 74 of file GT2003MotionNetSpecialActions.h. Referenced by calculateJointData(), and getNextData().

long GT2003MotionNetSpecialActions::dataRepetitionCounter [protected]

Cycle counter for current data line. Definition at line 76 of file GT2003MotionNetSpecialActions.h. Referenced by calculateJointData(), executeParameterized(), and getNextData().

OdometryEntry GT2003MotionNetSpecialActions::odometryTable[SpecialActionRequest::numOfSpecialAction + 1] [protected]

Odometry data table Contains one entry for each motion describing robot movement per tick. Definition at line 103 of file GT2003MotionNetSpecialActions.h. Referenced by getNextData(), readOdometryTable(), and specialActionIsExecutableInWalkingCycle().

MotionInfo GT2003MotionNetSpecialActions::motionInfoTable[SpecialActionRequest::numOfSpecialAction + 1] [protected]

Head states for each special action. Definition at line 106 of file GT2003MotionNetSpecialActions.h. Referenced by getNextData(), and readOdometryTable().

MotionRequest GT2003MotionNetSpecialActions::executedMotionRequestTable[SpecialActionRequest::numOfSpecialAction + 1] [protected]

A table for the executed motion requests. Definition at line 109 of file GT2003MotionNetSpecialActions.h. Referenced by readOdometryTable().

OdometryEntry GT2003MotionNetSpecialActions::currentOdometry [protected]

Odometry of current motion. Definition at line 112 of file GT2003MotionNetSpecialActions.h. Referenced by executeParameterized(), and getNextData().

SpecialActionRequest::SpecialActionID GT2003MotionNetSpecialActions::lastSpecialActionType [protected]

type of last executed special action Definition at line 118 of file GT2003MotionNetSpecialActions.h. Referenced by executeParameterized(), and getNextData().

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The documentation for this class was generated from the following files:

• Modules/SpecialActions/GT2003MotionNetSpecialActions/GT2003MotionNetSpecialActions.h
• Modules/SpecialActions/GT2003MotionNetSpecialActions/GT2003MotionNetSpecialActions.cpp

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