GT2004GetupEngine Class Reference

The GT2004 getup engine. More...

#include <GT2004GetupEngine.h>

Inheritance diagram for GT2004GetupEngine:

[legend]Collaboration diagram for GT2004GetupEngine:

[legend]List of all members.

Public Member Functions
	GT2004GetupEngine (const GetupEngineInterfaces &interfaces)
	Constructor.
virtual bool	executeParameterized (JointData &jointData)
	Executes the engine.
Protected Types
enum	{   unknown, leftSideDown, rightSideDown,   getupFromUpright, standing, rollRight,   rollLeft, numOfStates }
	current state More...
Protected Attributes
JointDataSequencer	sequencer
	the JointDataSequencer
enum GT2004GetupEngine:: { ... }	state
	current state
enum GT2004GetupEngine:: { ... }	lastState
	current state
JointDataSequence	sequence [numOfStates]
	joint data sequence executed in each state
JointDataSequence	sequenceERS7 [numOfStates]
	joint data sequence executed in each state for ERS 7
unsigned long	stateStartTime
unsigned long	lastGetupTime
int	countTry

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Detailed Description

The GT2004 getup engine.

It executes different JointDataSequences for different body roll angles. Body roll angle is determined by current acceleration sensor values.

Definition at line 33 of file GT2004GetupEngine.h.

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Member Enumeration Documentation

anonymous enum [protected]

current state Enumeration values: unknown  leftSideDown  rightSideDown  getupFromUpright  standing  rollRight  rollLeft  numOfStates  Definition at line 48 of file GT2004GetupEngine.h.

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Constructor & Destructor Documentation

GT2004GetupEngine::GT2004GetupEngine (  const GetupEngineInterfaces &  interfaces  )

Constructor. Definition at line 114 of file GT2004GetupEngine.cpp. References countTry, JointDataSequence::entry, getupFromUpright, I, JointDataSequence::interpolate, leftSideDown, JointDataSequence::loop, JointDataSequence::numOfEntries, JointDataSequence::repeats, rightSideDown, sequence, and sequenceERS7.

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Member Function Documentation

bool GT2004GetupEngine::executeParameterized (  JointData &  jointData  )  [virtual]

Executes the engine. Implements GetupEngine. Definition at line 427 of file GT2004GetupEngine.cpp. References BodyPosture::bodyRollCalculatedFromAccelerationSensors, BodyPosture::bodyTiltCalculatedFromAccelerationSensors, countTry, SensorData::data, MotionInfo::executedMotionRequest, SystemCall::getCurrentSystemTime(), getRobotConfiguration(), RobotConfiguration::getRobotDesign(), SystemCall::getTimeSince(), getupFromUpright, gt2004GetupEngineFalldownRollAngle, gt2004GetupEngineFalldownRollAngle7, gt2004GetupEngineFalldownTiltAngle, gt2004GetupEngineFalldownTiltAngle7, gt2004GetupEngineFalldownTiltAngleBack7, gt2004GetupEngineRollOnWallAngle, gt2004GetupEngineRollOnWallAngle7, JointDataSequencer::isRunning(), SensorDataBuffer::lastFrame(), lastGetupTime, lastState, leftSideDown, MotionInfo::motionIsStable, MotionRequest::motionType, MotionInfo::neckHeight, JointDataSequencer::nextSequenceData(), SensorDataBuffer::numOfFrames, rightSideDown, sequence, sequenceERS7, sequencer, JointDataSequencer::start(), and stateStartTime.

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Member Data Documentation

JointDataSequencer GT2004GetupEngine::sequencer [protected]

the JointDataSequencer Definition at line 45 of file GT2004GetupEngine.h. Referenced by executeParameterized().

enum { ... } GT2004GetupEngine::state [protected]

current state

enum { ... } GT2004GetupEngine::lastState [protected]

current state Referenced by executeParameterized().

JointDataSequence GT2004GetupEngine::sequence[numOfStates] [protected]

joint data sequence executed in each state Definition at line 76 of file GT2004GetupEngine.h. Referenced by executeParameterized(), and GT2004GetupEngine().

JointDataSequence GT2004GetupEngine::sequenceERS7[numOfStates] [protected]

joint data sequence executed in each state for ERS 7 Definition at line 79 of file GT2004GetupEngine.h. Referenced by executeParameterized(), and GT2004GetupEngine().

unsigned long GT2004GetupEngine::stateStartTime [protected]

Definition at line 81 of file GT2004GetupEngine.h. Referenced by executeParameterized().

unsigned long GT2004GetupEngine::lastGetupTime [protected]

Definition at line 82 of file GT2004GetupEngine.h. Referenced by executeParameterized().

int GT2004GetupEngine::countTry [protected]

Definition at line 83 of file GT2004GetupEngine.h. Referenced by executeParameterized(), and GT2004GetupEngine().

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

• Modules/GetupEngine/GT2004GetupEngine.h
• Modules/GetupEngine/GT2004GetupEngine.cpp

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