GT2004MotionControl Class Reference

The default solution for the module MotionControl. More...

#include <GT2004MotionControl.h>

Inheritance diagram for GT2004MotionControl:

[legend]Collaboration diagram for GT2004MotionControl:

[legend]List of all members.

Public Member Functions
	GT2004MotionControl (ModuleHandler &moduleHandler, const MotionControlInterfaces &interfaces)
	Constructor.
	~GT2004MotionControl ()
	Destructor.
virtual void	execute ()
	Executes the module.
virtual bool	handleMessage (InMessage &message)
	Called from a MessageQueue to distribute messages.
Protected Types
enum	{   stand, walk, specialAction,   getup, wakeUp, playDead }
	The state of the MotionControl. More...
Protected Member Functions
void	determineMotionControlState ()
	determines the state of the MotionControl
void	setMotionControlState ()
	sets the MotionControlState accordingly
void	wagTail (const MotionRequest &motionRequest, const SensorData &sensorData, JointData &jointData)
	executes the tail wag requested by motion request
Protected Attributes
MotionRequest::MotionID	lastMotionType
	which module was used before
WalkingEngine *	pWalkingEngine [WalkRequest::numOfWalkType]
	pointer to the WalkingEngine modules one for each walking type
SpecialActions *	pSpecialActions
	a pointer to the SpecialActions module
GetupEngineSelector *	pGetupEngine
	a pointer to the GetupEngine module
InvKinWalkingEngine *	pInvKinWalkingEngine
	a point to the single instance of the InvKinWalkingEngine this is called by all different walk types using different parameter sets
ModuleHandler &	moduleHandler
	A reference to the ModuleHandler of the Process.
int	tailCount
	counter used in wagTail
long	lastHeadTilt
	Previous head tilt.
long	lastHeadPan
	Previous head pan.
long	lastHeadRoll
	Previous head roll.
WakeUpEngine	wakeUpEngine
bool	wakingUp
bool	changeOfMotionControlStatePossible
	the last executed Motion indicated, that it´s possible to execute the motionRequest from Cognition
double	positionInWalkCycle
	the last cycle we were in
WalkRequest	latestWalkRequest
	The latest WalkRequest.
SpecialActionRequest	latestSpecialActionRequest
	The latest SpecialActionRequest.
enum GT2004MotionControl:: { ... }	motionControlState
	The state of the MotionControl.

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Detailed Description

The default solution for the module MotionControl.

Integrates head joint values from the head control, joint values from walking or special action engines and LED values from the LED control.

Definition at line 31 of file GT2004MotionControl.h.

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Member Enumeration Documentation

anonymous enum [protected]

The state of the MotionControl. Enumeration values: stand  walk  specialAction  getup  wakeUp  playDead  Definition at line 123 of file GT2004MotionControl.h.

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Constructor & Destructor Documentation

GT2004MotionControl::GT2004MotionControl (  ModuleHandler &  moduleHandler, const MotionControlInterfaces &  interfaces )

Constructor. Parameters: interfaces  The paramters of the MotionControl module. moduleHandler  A reference to the ModuleHandler of the Process. Definition at line 22 of file GT2004MotionControl.cpp. References lastHeadRoll, pGetupEngine, pInvKinWalkingEngine, pSpecialActions, pWalkingEngine, and wakingUp.

GT2004MotionControl::~GT2004MotionControl (   )

Destructor. Definition at line 74 of file GT2004MotionControl.cpp. References pGetupEngine, pInvKinWalkingEngine, pSpecialActions, pWalkingEngine, and ModuleHandler::setModuleSelector().

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Member Function Documentation

void GT2004MotionControl::execute (   )  [virtual]

Executes the module. Todo: : wagTail(sensorDataBuffer.lastFrame(), currentFrame); Implements Module. Definition at line 162 of file GT2004MotionControl.cpp. References changeOfMotionControlStatePossible, PIDData::d, JointData::data, determineMotionControlState(), WakeUpEngine::execute(), MotionInfo::executedMotionRequest, SpecialActions::executeParameterized(), WalkingEngine::executeParameterized(), GetupEngineSelector::executeParameterized(), SensorDataBuffer::frame, JointDataBuffer::frame, MotionRequest::getup, getup, PIDData::i, lastHeadRoll, latestSpecialActionRequest, latestWalkRequest, motionControlState, MotionRequest::motionType, HeadMotionRequest::mouth, PIDData::p, HeadMotionRequest::pan, pGetupEngine, MotionInfo::positionInWalkCycle, pSpecialActions, pWalkingEngine, HeadMotionRequest::roll, specialAction, MotionRequest::specialAction, MotionRequest::specialActionRequest, MotionStabilizer::stabilize(), MotionRequest::stand, stand, HeadMotionRequest::tilt, wakeUp, wakeUpEngine, walk, MotionRequest::walk, WalkRequest::walkParams, MotionRequest::walkRequest, and WalkRequest::walkType.

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bool GT2004MotionControl::handleMessage (  InMessage &  message  )  [virtual]

Called from a MessageQueue to distribute messages. Use message.getMessageID to decide if the message is relavant for the MesssageHandler derivate. Use message.bin, message.text or message.config as In streams to get the data from. Parameters: message  The message that can be read. Returns: true if the message was read (handled). Reimplemented from Module. Definition at line 613 of file GT2004MotionControl.cpp. References InMessage::bin, GenericDebugData::data, InMessage::getMessageID(), Module::handleMessage(), GenericDebugData::id, idGenericDebugData, idInvKinWalkingParameters, idMotionNet, idOdometryScale, idText, OUTPUT, pSpecialActions, pWalkingEngine, and PIDsmoothedValue::setWeightP().

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void GT2004MotionControl::determineMotionControlState (   )  [protected]

determines the state of the MotionControl Definition at line 90 of file GT2004MotionControl.cpp. References changeOfMotionControlStatePossible, getup, motionControlState, MotionRequest::motionType, pSpecialActions, setMotionControlState(), MotionRequest::specialAction, specialAction, SpecialActions::specialActionIsExecutableInWalkingCycle(), MotionRequest::specialActionRequest, SpecialActionRequest::specialActionType, stand, wakeUp, and walk. Referenced by execute().

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void GT2004MotionControl::setMotionControlState (   )  [protected]

sets the MotionControlState accordingly Definition at line 141 of file GT2004MotionControl.cpp. References getup, MotionRequest::getup, motionControlState, MotionRequest::motionType, specialAction, MotionRequest::specialAction, stand, MotionRequest::stand, walk, and MotionRequest::walk. Referenced by determineMotionControlState().

void GT2004MotionControl::wagTail (  const MotionRequest &  motionRequest, const SensorData &  sensorData, JointData &  jointData )  [protected]

executes the tail wag requested by motion request Definition at line 319 of file GT2004MotionControl.cpp. References SensorData::data, JointData::data, pi, sgn, tailCount, MotionRequest::tailRequest, TailRequest::tailRequestID, and toMicroRad().

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Member Data Documentation

MotionRequest::MotionID GT2004MotionControl::lastMotionType [protected]

which module was used before Definition at line 69 of file GT2004MotionControl.h.

WalkingEngine* GT2004MotionControl::pWalkingEngine[WalkRequest::numOfWalkType] [protected]

pointer to the WalkingEngine modules one for each walking type Definition at line 72 of file GT2004MotionControl.h. Referenced by execute(), GT2004MotionControl(), handleMessage(), and ~GT2004MotionControl().

SpecialActions* GT2004MotionControl::pSpecialActions [protected]

a pointer to the SpecialActions module Definition at line 75 of file GT2004MotionControl.h. Referenced by determineMotionControlState(), execute(), GT2004MotionControl(), handleMessage(), and ~GT2004MotionControl().

GetupEngineSelector* GT2004MotionControl::pGetupEngine [protected]

a pointer to the GetupEngine module Definition at line 78 of file GT2004MotionControl.h. Referenced by execute(), GT2004MotionControl(), and ~GT2004MotionControl().

InvKinWalkingEngine* GT2004MotionControl::pInvKinWalkingEngine [protected]

a point to the single instance of the InvKinWalkingEngine this is called by all different walk types using different parameter sets Definition at line 84 of file GT2004MotionControl.h. Referenced by GT2004MotionControl(), and ~GT2004MotionControl().

ModuleHandler& GT2004MotionControl::moduleHandler [protected]

A reference to the ModuleHandler of the Process. Needed to create new solutions. Definition at line 90 of file GT2004MotionControl.h.

int GT2004MotionControl::tailCount [protected]

counter used in wagTail Definition at line 93 of file GT2004MotionControl.h. Referenced by wagTail().

long GT2004MotionControl::lastHeadTilt [protected]

Previous head tilt. Definition at line 95 of file GT2004MotionControl.h.

long GT2004MotionControl::lastHeadPan [protected]

Previous head pan. Definition at line 95 of file GT2004MotionControl.h.

long GT2004MotionControl::lastHeadRoll [protected]

Previous head roll. Definition at line 95 of file GT2004MotionControl.h. Referenced by execute(), and GT2004MotionControl().

WakeUpEngine GT2004MotionControl::wakeUpEngine [protected]

Definition at line 106 of file GT2004MotionControl.h. Referenced by execute().

bool GT2004MotionControl::wakingUp [protected]

Definition at line 108 of file GT2004MotionControl.h. Referenced by GT2004MotionControl().

bool GT2004MotionControl::changeOfMotionControlStatePossible [protected]

the last executed Motion indicated, that it´s possible to execute the motionRequest from Cognition Definition at line 111 of file GT2004MotionControl.h. Referenced by determineMotionControlState(), and execute().

double GT2004MotionControl::positionInWalkCycle [protected]

the last cycle we were in Definition at line 114 of file GT2004MotionControl.h.

WalkRequest GT2004MotionControl::latestWalkRequest [protected]

The latest WalkRequest. Definition at line 117 of file GT2004MotionControl.h. Referenced by execute().

SpecialActionRequest GT2004MotionControl::latestSpecialActionRequest [protected]

The latest SpecialActionRequest. Definition at line 120 of file GT2004MotionControl.h. Referenced by execute().

enum { ... } GT2004MotionControl::motionControlState [protected]

The state of the MotionControl. Referenced by determineMotionControlState(), execute(), and setMotionControlState().

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

• Modules/MotionControl/GT2004MotionControl.h
• Modules/MotionControl/GT2004MotionControl.cpp

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