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HeadControlInterfaces Class Reference

The interfaces of the HeadControl module. More...

#include <HeadControl.h>

Inheritance diagram for HeadControlInterfaces:

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Collaboration diagram for HeadControlInterfaces:

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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 HeadControlModeheadControlMode
 A modus from the behavior how to move the head.

const RobotPoserobotPose
 The robots current position and orientation.

const CameraMatrixcameraMatrix
 The position and rotation of the camera relative to the robot.

const OdometryDatacurrentOdometryData
 The odometry of the last Motion frame.

const BallModelballModel
 The position and the speed of the ball.

const SensorDataBuffersensorDataBuffer
 The current body sensor data.

const BodyPosturebodyPosture
 The neck height and body tilt.

const MotionRequestmotionRequest
 motionRequest that is currently executed

const MotionInfomotionInfo
 information about the executed motions

const LandmarksStatelandmarksState
 the currently seen landmarks

const RobotStaterobotState
 The current state of the robot.

const bool headIsBlockedBySpecialActionOrWalk
 Specifies if the head is blocked by a special action or walk.

HeadMotionRequestheadMotionRequest
 Head joint angles that have to be set.

PIDDatapidData
 PID servo gains.


Detailed Description

The interfaces of the HeadControl module.

Definition at line 49 of file HeadControl.h.


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.


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.


The documentation for this class was generated from the following file:
Generated on Thu Sep 23 20:08:24 2004 for GT2004 by doxygen 1.3.6