HeadControlInterfaces Class Reference

The interfaces of the HeadControl module. More...

#include <HeadControl.h>

Inheritance diagram for HeadControlInterfaces:

[legend]Collaboration diagram for HeadControlInterfaces:

[legend]List of all members.

Public Member Functions
	HeadControlInterfaces (const unsigned long &frameNumber, const SensorDataBuffer &sensorDataBuffer, const CameraMatrix &cameraMatrix, const OdometryData &currentOdometryData, const BodyPosture &bodyPosture, const BallModel &ballModel, const RobotPose &robotPose, const LandmarksState &landmarksState, const RobotState &robotState, const MotionInfo &motionInfo, const HeadControlMode &headControlMode, const bool headIsBlockedBySpecialActionOrWalk, HeadMotionRequest &headMotionRequest, PIDData &pidData)
	Constructor.
Protected Attributes
const unsigned long &	frameNumber
	A reference to the frame number.
const HeadControlMode &	headControlMode
	A modus from the behavior how to move the head.
const RobotPose &	robotPose
	The robots current position and orientation.
const CameraMatrix &	cameraMatrix
	The position and rotation of the camera relative to the robot.
const OdometryData &	currentOdometryData
	The odometry of the last Motion frame.
const BallModel &	ballModel
	The position and the speed of the ball.
const SensorDataBuffer &	sensorDataBuffer
	The current body sensor data.
const BodyPosture &	bodyPosture
	The neck height and body tilt.
const MotionRequest &	motionRequest
	motionRequest that is currently executed
const MotionInfo &	motionInfo
	information about the executed motions
const LandmarksState &	landmarksState
	the currently seen landmarks
const RobotState &	robotState
	The current state of the robot.
const bool	headIsBlockedBySpecialActionOrWalk
	Specifies if the head is blocked by a special action or walk.
HeadMotionRequest &	headMotionRequest
	Head joint angles that have to be set.
PIDData &	pidData
	PID servo gains.

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Detailed Description

The interfaces of the HeadControl module.

Definition at line 49 of file HeadControl.h.

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Constructor & Destructor Documentation

HeadControlInterfaces::HeadControlInterfaces (  const unsigned long &  frameNumber, const SensorDataBuffer &  sensorDataBuffer, const CameraMatrix &  cameraMatrix, const OdometryData &  currentOdometryData, const BodyPosture &  bodyPosture, const BallModel &  ballModel, const RobotPose &  robotPose, const LandmarksState &  landmarksState, const RobotState &  robotState, const MotionInfo &  motionInfo, const HeadControlMode &  headControlMode, const bool  headIsBlockedBySpecialActionOrWalk, HeadMotionRequest &  headMotionRequest, PIDData &  pidData )  [inline]

Constructor. Definition at line 53 of file HeadControl.h.

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Member Data Documentation

const unsigned long& HeadControlInterfaces::frameNumber [protected]

A reference to the frame number. Definition at line 88 of file HeadControl.h.

const HeadControlMode& HeadControlInterfaces::headControlMode [protected]

A modus from the behavior how to move the head. Definition at line 91 of file HeadControl.h.

const RobotPose& HeadControlInterfaces::robotPose [protected]

The robots current position and orientation. Definition at line 94 of file HeadControl.h.

const CameraMatrix& HeadControlInterfaces::cameraMatrix [protected]

The position and rotation of the camera relative to the robot. Definition at line 97 of file HeadControl.h.

const OdometryData& HeadControlInterfaces::currentOdometryData [protected]

The odometry of the last Motion frame. Definition at line 100 of file HeadControl.h.

const BallModel& HeadControlInterfaces::ballModel [protected]

The position and the speed of the ball. Definition at line 103 of file HeadControl.h.

const SensorDataBuffer& HeadControlInterfaces::sensorDataBuffer [protected]

The current body sensor data. Definition at line 106 of file HeadControl.h.

const BodyPosture& HeadControlInterfaces::bodyPosture [protected]

The neck height and body tilt. Definition at line 109 of file HeadControl.h.

const MotionRequest& HeadControlInterfaces::motionRequest [protected]

motionRequest that is currently executed Definition at line 112 of file HeadControl.h.

const MotionInfo& HeadControlInterfaces::motionInfo [protected]

information about the executed motions Definition at line 115 of file HeadControl.h.

const LandmarksState& HeadControlInterfaces::landmarksState [protected]

the currently seen landmarks Definition at line 118 of file HeadControl.h.

const RobotState& HeadControlInterfaces::robotState [protected]

The current state of the robot. Definition at line 121 of file HeadControl.h.

const bool HeadControlInterfaces::headIsBlockedBySpecialActionOrWalk [protected]

Specifies if the head is blocked by a special action or walk. Definition at line 124 of file HeadControl.h.

HeadMotionRequest& HeadControlInterfaces::headMotionRequest [protected]

Head joint angles that have to be set. Definition at line 127 of file HeadControl.h.

PIDData& HeadControlInterfaces::pidData [protected]

PID servo gains. Definition at line 130 of file HeadControl.h.

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

• Modules/HeadControl/HeadControl.h

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