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GT2004ParametersSet Class Reference

ParametersSet for GT2004WalkingEngine. More...

#include <GT2004ParameterSet.h>

Collaboration diagram for GT2004ParametersSet:

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List of all members.

Public Types

enum  IndexName {
  much_rturn_fast, much_rturn_med, much_rturn_slow,
  stand, much_lturn_slow, much_lturn_med,
  much_lturn_fast, med_rturn_min180_slow, med_rturn_min135_slow,
  med_rturn_min90_slow, med_rturn_min45_slow, med_rturn_0_slow,
  med_rturn_45_slow, med_rturn_90_slow, med_rturn_135_slow,
  few_rturn_min180_slow, few_rturn_min135_slow, few_rturn_min90_slow,
  few_rturn_min45_slow, few_rturn_0_slow, few_rturn_45_slow,
  few_rturn_90_slow, few_rturn_135_slow, no_turn_min180_slow,
  no_turn_min135_slow, no_turn_min90_slow, no_turn_min45_slow,
  no_turn_0_slow, no_turn_45_slow, no_turn_90_slow,
  no_turn_135_slow, few_lturn_min180_slow, few_lturn_min135_slow,
  few_lturn_min90_slow, few_lturn_min45_slow, few_lturn_0_slow,
  few_lturn_45_slow, few_lturn_90_slow, few_lturn_135_slow,
  med_lturn_min180_slow, med_lturn_min135_slow, med_lturn_min90_slow,
  med_lturn_min45_slow, med_lturn_0_slow, med_lturn_45_slow,
  med_lturn_90_slow, med_lturn_135_slow, med_rturn_min180_med,
  med_rturn_min135_med, med_rturn_min90_med, med_rturn_min45_med,
  med_rturn_0_med, med_rturn_45_med, med_rturn_90_med,
  med_rturn_135_med, few_rturn_min180_med, few_rturn_min135_med,
  few_rturn_min90_med, few_rturn_min45_med, few_rturn_0_med,
  few_rturn_45_med, few_rturn_90_med, few_rturn_135_med,
  no_turn_min180_med, no_turn_min135_med, no_turn_min90_med,
  no_turn_min45_med, no_turn_0_med, no_turn_45_med,
  no_turn_90_med, no_turn_135_med, few_lturn_min180_med,
  few_lturn_min135_med, few_lturn_min90_med, few_lturn_min45_med,
  few_lturn_0_med, few_lturn_45_med, few_lturn_90_med,
  few_lturn_135_med, med_lturn_min180_med, med_lturn_min135_med,
  med_lturn_min90_med, med_lturn_min45_med, med_lturn_0_med,
  med_lturn_45_med, med_lturn_90_med, med_lturn_135_med,
  med_rturn_min180_fast, med_rturn_min135_fast, med_rturn_min90_fast,
  med_rturn_min45_fast, med_rturn_0_fast, med_rturn_45_fast,
  med_rturn_90_fast, med_rturn_135_fast, few_rturn_min180_fast,
  few_rturn_min135_fast, few_rturn_min90_fast, few_rturn_min45_fast,
  few_rturn_0_fast, few_rturn_45_fast, few_rturn_90_fast,
  few_rturn_135_fast, no_turn_min180_fast, no_turn_min135_fast,
  no_turn_min90_fast, no_turn_min45_fast, no_turn_0_fast,
  no_turn_45_fast, no_turn_90_fast, no_turn_135_fast,
  few_lturn_min180_fast, few_lturn_min135_fast, few_lturn_min90_fast,
  few_lturn_min45_fast, few_lturn_0_fast, few_lturn_45_fast,
  few_lturn_90_fast, few_lturn_135_fast, med_lturn_min180_fast,
  med_lturn_min135_fast, med_lturn_min90_fast, med_lturn_min45_fast,
  med_lturn_0_fast, med_lturn_45_fast, med_lturn_90_fast,
  med_lturn_135_fast, numberOfParameters
}
 enum describing indexes of a set of parameters More...


Public Member Functions

 GT2004ParametersSet ()
 default constructor

void calculateMergedParameterSet (Pose2D &currentRequest)
 calculate merged parameters set according to motion request

GT2004Parameters * getParameters (int index)
 return one of the GT2004Parameters in the tables according to index

bool isMaxSpeedIndex (int index)
 returns true if the given index is for a parametersset designed for max speed

void mirrorThis (int index)
 changes the mirrored parameters set to match the given one except for sign

void mirrorLeftTurnToRightTurn ()
 changes all right turn parameters to match the according left turn parameters

bool load (char *filename=0)
 tries to load the parameters set from a file

void save (char *filename=0)
 saves the parameters set to a file


Static Public Member Functions

char * getIndexString (int index)
 returns the name string of a certain index

int getIndexOfMirror (int index)
 return the index of the left right mirrored parameters set

double getSpeed (const Pose2D &request)
 some functions to access and modify polar parts of a (motionRequest) Pose2D

double getRatio (const Pose2D &request)
double getDirection (const Pose2D &request)
void setSpeed (Pose2D &request, double speed)
void setRatio (Pose2D &request, double ratio)
void setDirection (Pose2D &request, double direct)

Public Attributes

GT2004Parameters rotationOnly [7]
GT2004Parameters withWalk [3][5][8]
GT2004Parameters llBuf
 buffers for merging up to 8 parameter sets around the requested one

GT2004Parameters luBuf
 buffers for merging up to 8 parameter sets around the requested one

GT2004Parameters ulBuf
 buffers for merging up to 8 parameter sets around the requested one

GT2004Parameters uuBuf
 buffers for merging up to 8 parameter sets around the requested one

GT2004Parameters lBuf
 buffers for merging up to 8 parameter sets around the requested one

GT2004Parameters uBuf
 buffers for merging up to 8 parameter sets around the requested one

GT2004Parameters mBuf
 buffers for merging up to 8 parameter sets around the requested one

GT2004Parameters * lowRatioLowSpeed
 pointers to merged parameter sets to minimize merging afford

GT2004Parameters * lowRatioUpSpeed
 pointers to merged parameter sets to minimize merging afford

GT2004Parameters * upRatioLowSpeed
 pointers to merged parameter sets to minimize merging afford

GT2004Parameters * upRatioUpSpeed
 pointers to merged parameter sets to minimize merging afford

GT2004Parameters * lowSpeed
GT2004Parameters * upSpeed
GT2004Parameters * mergedParameters

Detailed Description

ParametersSet for GT2004WalkingEngine.

Author:
Uwe Düffert

Definition at line 314 of file GT2004ParameterSet.h.

Member Enumeration Documentation

enum GT2004ParametersSet::IndexName
 

enum describing indexes of a set of parameters

Enumeration values:
much_rturn_fast 
much_rturn_med 
much_rturn_slow 
stand 
much_lturn_slow 
much_lturn_med 
much_lturn_fast 
med_rturn_min180_slow 
med_rturn_min135_slow 
med_rturn_min90_slow 
med_rturn_min45_slow 
med_rturn_0_slow 
med_rturn_45_slow 
med_rturn_90_slow 
med_rturn_135_slow 
few_rturn_min180_slow 
few_rturn_min135_slow 
few_rturn_min90_slow 
few_rturn_min45_slow 
few_rturn_0_slow 
few_rturn_45_slow 
few_rturn_90_slow 
few_rturn_135_slow 
no_turn_min180_slow 
no_turn_min135_slow 
no_turn_min90_slow 
no_turn_min45_slow 
no_turn_0_slow 
no_turn_45_slow 
no_turn_90_slow 
no_turn_135_slow 
few_lturn_min180_slow 
few_lturn_min135_slow 
few_lturn_min90_slow 
few_lturn_min45_slow 
few_lturn_0_slow 
few_lturn_45_slow 
few_lturn_90_slow 
few_lturn_135_slow 
med_lturn_min180_slow 
med_lturn_min135_slow 
med_lturn_min90_slow 
med_lturn_min45_slow 
med_lturn_0_slow 
med_lturn_45_slow 
med_lturn_90_slow 
med_lturn_135_slow 
med_rturn_min180_med 
med_rturn_min135_med 
med_rturn_min90_med 
med_rturn_min45_med 
med_rturn_0_med 
med_rturn_45_med 
med_rturn_90_med 
med_rturn_135_med 
few_rturn_min180_med 
few_rturn_min135_med 
few_rturn_min90_med 
few_rturn_min45_med 
few_rturn_0_med 
few_rturn_45_med 
few_rturn_90_med 
few_rturn_135_med 
no_turn_min180_med 
no_turn_min135_med 
no_turn_min90_med 
no_turn_min45_med 
no_turn_0_med 
no_turn_45_med 
no_turn_90_med 
no_turn_135_med 
few_lturn_min180_med 
few_lturn_min135_med 
few_lturn_min90_med 
few_lturn_min45_med 
few_lturn_0_med 
few_lturn_45_med 
few_lturn_90_med 
few_lturn_135_med 
med_lturn_min180_med 
med_lturn_min135_med 
med_lturn_min90_med 
med_lturn_min45_med 
med_lturn_0_med 
med_lturn_45_med 
med_lturn_90_med 
med_lturn_135_med 
med_rturn_min180_fast 
med_rturn_min135_fast 
med_rturn_min90_fast 
med_rturn_min45_fast 
med_rturn_0_fast 
med_rturn_45_fast 
med_rturn_90_fast 
med_rturn_135_fast 
few_rturn_min180_fast 
few_rturn_min135_fast 
few_rturn_min90_fast 
few_rturn_min45_fast 
few_rturn_0_fast 
few_rturn_45_fast 
few_rturn_90_fast 
few_rturn_135_fast 
no_turn_min180_fast 
no_turn_min135_fast 
no_turn_min90_fast 
no_turn_min45_fast 
no_turn_0_fast 
no_turn_45_fast 
no_turn_90_fast 
no_turn_135_fast 
few_lturn_min180_fast 
few_lturn_min135_fast 
few_lturn_min90_fast 
few_lturn_min45_fast 
few_lturn_0_fast 
few_lturn_45_fast 
few_lturn_90_fast 
few_lturn_135_fast 
med_lturn_min180_fast 
med_lturn_min135_fast 
med_lturn_min90_fast 
med_lturn_min45_fast 
med_lturn_0_fast 
med_lturn_45_fast 
med_lturn_90_fast 
med_lturn_135_fast 
numberOfParameters 

Definition at line 320 of file GT2004ParameterSet.h.

Referenced by getIndexOfMirror(), and getIndexString().

Constructor & Destructor Documentation

GT2004ParametersSet::GT2004ParametersSet (   ) 
 

default constructor

Definition at line 171 of file GT2004ParameterSet.cpp.

References GT2004Parameters::correctedMotion, GT2004Parameters::index, load(), lowRatioLowSpeed, lowRatioUpSpeed, lowSpeed, mergedParameters, pi_2, pi_4, GT2004Parameters::requestedMotion, rotationOnly, upRatioLowSpeed, upRatioUpSpeed, upSpeed, and withWalk.

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Member Function Documentation

void GT2004ParametersSet::calculateMergedParameterSet (  Pose2D &  currentRequest  ) 
 

calculate merged parameters set according to motion request

Parameters:
currentRequest the request the merged parameters set shall be optimized for

Definition at line 320 of file GT2004ParameterSet.cpp.

References Vector2< double >::abs(), GT2004Parameters::interpolate(), lBuf, llBuf, lowRatioLowSpeed, lowRatioUpSpeed, lowSpeed, luBuf, mBuf, mergedParameters, min, pi, Pose2D::rotation, rotationOnly, sqr, Pose2D::translation, uBuf, ulBuf, upRatioLowSpeed, upRatioUpSpeed, upSpeed, uuBuf, withWalk, Vector2< double >::x, and Vector2< double >::y.

Referenced by GT2004WalkingEngine::calculateLegSpeeds().

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GT2004Parameters * GT2004ParametersSet::getParameters (  int  index  ) 
 

return one of the GT2004Parameters in the tables according to index

Definition at line 619 of file GT2004ParameterSet.cpp.

References rotationOnly, and withWalk.

Referenced by GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), GT2004BehaviorControl::GT2004BehaviorControl(), GT2004BehaviorControl::handleMessage(), mirrorThis(), and GT2004WalkingEngine::setNextParameters().

bool GT2004ParametersSet::isMaxSpeedIndex (  int  index  ) 
 

returns true if the given index is for a parametersset designed for max speed

Definition at line 635 of file GT2004ParameterSet.cpp.

Referenced by GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute().

char * GT2004ParametersSet::getIndexString (  int  index  )  [static]
 

returns the name string of a certain index

Parameters:
index the index of the parameters we would like to get the name of
Returns:
the name of the index as char*

Definition at line 650 of file GT2004ParameterSet.cpp.

References few_lturn_0_fast, few_lturn_0_med, few_lturn_0_slow, few_lturn_135_fast, few_lturn_135_med, few_lturn_135_slow, few_lturn_45_fast, few_lturn_45_med, few_lturn_45_slow, few_lturn_90_fast, few_lturn_90_med, few_lturn_90_slow, few_lturn_min135_fast, few_lturn_min135_med, few_lturn_min135_slow, few_lturn_min180_fast, few_lturn_min180_med, few_lturn_min180_slow, few_lturn_min45_fast, few_lturn_min45_med, few_lturn_min45_slow, few_lturn_min90_fast, few_lturn_min90_med, few_lturn_min90_slow, few_rturn_0_fast, few_rturn_0_med, few_rturn_0_slow, few_rturn_135_fast, few_rturn_135_med, few_rturn_135_slow, few_rturn_45_fast, few_rturn_45_med, few_rturn_45_slow, few_rturn_90_fast, few_rturn_90_med, few_rturn_90_slow, few_rturn_min135_fast, few_rturn_min135_med, few_rturn_min135_slow, few_rturn_min180_fast, few_rturn_min180_med, few_rturn_min180_slow, few_rturn_min45_fast, few_rturn_min45_med, few_rturn_min45_slow, few_rturn_min90_fast, few_rturn_min90_med, few_rturn_min90_slow, IndexName, med_lturn_0_fast, med_lturn_0_med, med_lturn_0_slow, med_lturn_135_fast, med_lturn_135_med, med_lturn_135_slow, med_lturn_45_fast, med_lturn_45_med, med_lturn_45_slow, med_lturn_90_fast, med_lturn_90_med, med_lturn_90_slow, med_lturn_min135_fast, med_lturn_min135_med, med_lturn_min135_slow, med_lturn_min180_fast, med_lturn_min180_med, med_lturn_min180_slow, med_lturn_min45_fast, med_lturn_min45_med, med_lturn_min45_slow, med_lturn_min90_fast, med_lturn_min90_med, med_lturn_min90_slow, med_rturn_0_fast, med_rturn_0_med, med_rturn_0_slow, med_rturn_135_fast, med_rturn_135_med, med_rturn_135_slow, med_rturn_45_fast, med_rturn_45_med, med_rturn_45_slow, med_rturn_90_fast, med_rturn_90_med, med_rturn_90_slow, med_rturn_min135_fast, med_rturn_min135_med, med_rturn_min135_slow, med_rturn_min180_fast, med_rturn_min180_med, med_rturn_min180_slow, med_rturn_min45_fast, med_rturn_min45_med, med_rturn_min45_slow, med_rturn_min90_fast, med_rturn_min90_med, med_rturn_min90_slow, much_lturn_fast, much_lturn_med, much_lturn_slow, much_rturn_fast, much_rturn_med, much_rturn_slow, no_turn_0_fast, no_turn_0_med, no_turn_0_slow, no_turn_135_fast, no_turn_135_med, no_turn_135_slow, no_turn_45_fast, no_turn_45_med, no_turn_45_slow, no_turn_90_fast, no_turn_90_med, no_turn_90_slow, no_turn_min135_fast, no_turn_min135_med, no_turn_min135_slow, no_turn_min180_fast, no_turn_min180_med, no_turn_min180_slow, no_turn_min45_fast, no_turn_min45_med, no_turn_min45_slow, no_turn_min90_fast, no_turn_min90_med, and no_turn_min90_slow.

int GT2004ParametersSet::getIndexOfMirror (  int  index  )  [static]
 

return the index of the left right mirrored parameters set

Parameters:
index the index of the parameters set you want to get the mirrored version of
Returns:
the index of the left right mirrored parameters set or -1 if that doesnt exist

Definition at line 785 of file GT2004ParameterSet.cpp.

References few_lturn_0_fast, few_lturn_0_med, few_lturn_0_slow, few_lturn_135_fast, few_lturn_135_med, few_lturn_135_slow, few_lturn_45_fast, few_lturn_45_med, few_lturn_45_slow, few_lturn_90_fast, few_lturn_90_med, few_lturn_90_slow, few_lturn_min135_fast, few_lturn_min135_med, few_lturn_min135_slow, few_lturn_min180_fast, few_lturn_min180_med, few_lturn_min180_slow, few_lturn_min45_fast, few_lturn_min45_med, few_lturn_min45_slow, few_lturn_min90_fast, few_lturn_min90_med, few_lturn_min90_slow, few_rturn_0_fast, few_rturn_0_med, few_rturn_0_slow, few_rturn_135_fast, few_rturn_135_med, few_rturn_135_slow, few_rturn_45_fast, few_rturn_45_med, few_rturn_45_slow, few_rturn_90_fast, few_rturn_90_med, few_rturn_90_slow, few_rturn_min135_fast, few_rturn_min135_med, few_rturn_min135_slow, few_rturn_min180_fast, few_rturn_min180_med, few_rturn_min180_slow, few_rturn_min45_fast, few_rturn_min45_med, few_rturn_min45_slow, few_rturn_min90_fast, few_rturn_min90_med, few_rturn_min90_slow, IndexName, med_lturn_0_fast, med_lturn_0_med, med_lturn_0_slow, med_lturn_135_fast, med_lturn_135_med, med_lturn_135_slow, med_lturn_45_fast, med_lturn_45_med, med_lturn_45_slow, med_lturn_90_fast, med_lturn_90_med, med_lturn_90_slow, med_lturn_min135_fast, med_lturn_min135_med, med_lturn_min135_slow, med_lturn_min180_fast, med_lturn_min180_med, med_lturn_min180_slow, med_lturn_min45_fast, med_lturn_min45_med, med_lturn_min45_slow, med_lturn_min90_fast, med_lturn_min90_med, med_lturn_min90_slow, med_rturn_0_fast, med_rturn_0_med, med_rturn_0_slow, med_rturn_135_fast, med_rturn_135_med, med_rturn_135_slow, med_rturn_45_fast, med_rturn_45_med, med_rturn_45_slow, med_rturn_90_fast, med_rturn_90_med, med_rturn_90_slow, med_rturn_min135_fast, med_rturn_min135_med, med_rturn_min135_slow, med_rturn_min180_fast, med_rturn_min180_med, med_rturn_min180_slow, med_rturn_min45_fast, med_rturn_min45_med, med_rturn_min45_slow, med_rturn_min90_fast, med_rturn_min90_med, med_rturn_min90_slow, much_lturn_fast, much_lturn_med, much_lturn_slow, much_rturn_fast, much_rturn_med, much_rturn_slow, no_turn_135_fast, no_turn_135_med, no_turn_135_slow, no_turn_45_fast, no_turn_45_med, no_turn_45_slow, no_turn_90_fast, no_turn_90_med, no_turn_90_slow, no_turn_min135_fast, no_turn_min135_med, no_turn_min135_slow, no_turn_min45_fast, no_turn_min45_med, no_turn_min45_slow, no_turn_min90_fast, no_turn_min90_med, and no_turn_min90_slow.

Referenced by GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute(), GT2004BehaviorControl::handleMessage(), and mirrorThis().

void GT2004ParametersSet::mirrorThis (  int  index  ) 
 

changes the mirrored parameters set to match the given one except for sign

Parameters:
index the index of the source parameters set, the mirrored one shall look like that

Definition at line 926 of file GT2004ParameterSet.cpp.

References GT2004Parameters::correctedMotion, getIndexOfMirror(), getParameters(), GT2004Parameters::index, GT2004Parameters::requestedMotion, Pose2D::rotation, Pose2D::translation, and Vector2< double >::y.

Referenced by GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute(), mirrorLeftTurnToRightTurn(), and GT2004WalkingEngine::nextParametersInterpolation().

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void GT2004ParametersSet::mirrorLeftTurnToRightTurn (   ) 
 

changes all right turn parameters to match the according left turn parameters

Definition at line 259 of file GT2004ParameterSet.cpp.

References few_lturn_0_fast, few_lturn_0_med, few_lturn_0_slow, few_lturn_135_fast, few_lturn_135_med, few_lturn_135_slow, few_lturn_45_fast, few_lturn_45_med, few_lturn_45_slow, few_lturn_90_fast, few_lturn_90_med, few_lturn_90_slow, few_lturn_min135_fast, few_lturn_min135_med, few_lturn_min135_slow, few_lturn_min180_fast, few_lturn_min180_med, few_lturn_min180_slow, few_lturn_min45_fast, few_lturn_min45_med, few_lturn_min45_slow, few_lturn_min90_fast, few_lturn_min90_med, few_lturn_min90_slow, med_lturn_0_fast, med_lturn_0_med, med_lturn_0_slow, med_lturn_135_fast, med_lturn_135_med, med_lturn_135_slow, med_lturn_45_fast, med_lturn_45_med, med_lturn_45_slow, med_lturn_90_fast, med_lturn_90_med, med_lturn_90_slow, med_lturn_min135_fast, med_lturn_min135_med, med_lturn_min135_slow, med_lturn_min180_fast, med_lturn_min180_med, med_lturn_min180_slow, med_lturn_min45_fast, med_lturn_min45_med, med_lturn_min45_slow, med_lturn_min90_fast, med_lturn_min90_med, med_lturn_min90_slow, mirrorThis(), much_lturn_fast, much_lturn_med, and much_lturn_slow.

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double GT2004ParametersSet::getSpeed (  const Pose2D &  request  )  [static]
 

some functions to access and modify polar parts of a (motionRequest) Pose2D

Definition at line 942 of file GT2004ParameterSet.cpp.

References Vector2< double >::abs(), Pose2D::rotation, sqr, and Pose2D::translation.

Referenced by GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute(), GT2004BehaviorControl::handleMessage(), and setRatio().

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double GT2004ParametersSet::getRatio (  const Pose2D &  request  )  [static]
 

Definition at line 945 of file GT2004ParameterSet.cpp.

References Vector2< double >::abs(), pi, Pose2D::rotation, and Pose2D::translation.

Referenced by GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), and setSpeed().

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double GT2004ParametersSet::getDirection (  const Pose2D &  request  )  [static]
 

Definition at line 948 of file GT2004ParameterSet.cpp.

References Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.

Referenced by GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), setRatio(), and setSpeed().

void GT2004ParametersSet::setSpeed (  Pose2D &  request,
double  speed
)  [static]
 

Definition at line 951 of file GT2004ParameterSet.cpp.

References getDirection(), getRatio(), pi, Pose2D::rotation, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.

Referenced by GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), and GT2004BehaviorControl::handleMessage().

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void GT2004ParametersSet::setRatio (  Pose2D &  request,
double  ratio
)  [static]
 

Definition at line 963 of file GT2004ParameterSet.cpp.

References getDirection(), getSpeed(), pi, Pose2D::rotation, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.

Referenced by GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute().

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void GT2004ParametersSet::setDirection (  Pose2D &  request,
double  direct
)  [static]
 

Definition at line 975 of file GT2004ParameterSet.cpp.

References Vector2< double >::abs(), Pose2D::rotation, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.

Referenced by GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute().

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bool GT2004ParametersSet::load (  char *  filename = 0  ) 
 

tries to load the parameters set from a file

Returns:
true, if reading was successful, false if set is unchanged

Definition at line 986 of file GT2004ParameterSet.cpp.

References InFile::exists(), getRobotConfiguration(), RobotConfiguration::getRobotDesign(), mergedParameters, and rotationOnly.

Referenced by GT2004ParametersSet(), GT2004WalkingEngine::handleMessage(), and GT2004BehaviorControl::handleMessage().

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void GT2004ParametersSet::save (  char *  filename = 0  ) 
 

saves the parameters set to a file

Definition at line 1014 of file GT2004ParameterSet.cpp.

References getRobotConfiguration(), and RobotConfiguration::getRobotDesign().

Referenced by GT2004BehaviorControl::handleMessage().

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Member Data Documentation

GT2004Parameters GT2004ParametersSet::rotationOnly[7]
 

Definition at line 363 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), getParameters(), GT2004ParametersSet(), load(), operator<<(), and operator>>().

GT2004Parameters GT2004ParametersSet::withWalk[3][5][8]
 

Definition at line 364 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), getParameters(), GT2004ParametersSet(), operator<<(), and operator>>().

GT2004Parameters GT2004ParametersSet::llBuf
 

buffers for merging up to 8 parameter sets around the requested one

Definition at line 370 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet().

GT2004Parameters GT2004ParametersSet::luBuf
 

buffers for merging up to 8 parameter sets around the requested one

Definition at line 370 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet().

GT2004Parameters GT2004ParametersSet::ulBuf
 

buffers for merging up to 8 parameter sets around the requested one

Definition at line 370 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet().

GT2004Parameters GT2004ParametersSet::uuBuf
 

buffers for merging up to 8 parameter sets around the requested one

Definition at line 370 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet().

GT2004Parameters GT2004ParametersSet::lBuf
 

buffers for merging up to 8 parameter sets around the requested one

Definition at line 370 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet().

GT2004Parameters GT2004ParametersSet::uBuf
 

buffers for merging up to 8 parameter sets around the requested one

Definition at line 370 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet().

GT2004Parameters GT2004ParametersSet::mBuf
 

buffers for merging up to 8 parameter sets around the requested one

Definition at line 370 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet().

GT2004Parameters* GT2004ParametersSet::lowRatioLowSpeed
 

pointers to merged parameter sets to minimize merging afford

Definition at line 373 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().

GT2004Parameters * GT2004ParametersSet::lowRatioUpSpeed
 

pointers to merged parameter sets to minimize merging afford

Definition at line 373 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().

GT2004Parameters * GT2004ParametersSet::upRatioLowSpeed
 

pointers to merged parameter sets to minimize merging afford

Definition at line 373 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().

GT2004Parameters * GT2004ParametersSet::upRatioUpSpeed
 

pointers to merged parameter sets to minimize merging afford

Definition at line 373 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().

GT2004Parameters* GT2004ParametersSet::lowSpeed
 

Definition at line 374 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().

GT2004Parameters * GT2004ParametersSet::upSpeed
 

Definition at line 374 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().

GT2004Parameters * GT2004ParametersSet::mergedParameters
 

Definition at line 374 of file GT2004ParameterSet.h.

Referenced by GT2004WalkingEngine::calculateLegSpeeds(), calculateMergedParameterSet(), GT2004WalkingEngine::executeParameterized(), GT2004ParametersSet(), GT2004WalkingEngine::handleMessage(), GT2004WalkingEngine::init(), and load().

The documentation for this class was generated from the following files:
Generated on Thu Sep 23 20:07:48 2004 for GT2004 by doxygen 1.3.6