MSH2004InvKinWalkingEngine Class Reference

#include <MSH2004InvKinWalkingEngine.h>

Inheritance diagram for MSH2004InvKinWalkingEngine:

[legend]Collaboration diagram for MSH2004InvKinWalkingEngine:

[legend]List of all members.

Public Member Functions
	MSH2004InvKinWalkingEngine (InvKinWalkingEngine *pEngine)
	Construct a new MSH Walking engine.
virtual bool	executeParameterized (JointData &jointData, const WalkRequest &walkRequest, double positionInWalkingCycle)
	Calculates the next joint data set.
virtual bool	handleMessage (InMessage &message)
	Called from a MessageQueue to distribute messages.
Protected Attributes
InvKinWalkingEngine *	pEngine
MSH2004WalkingParameters	forward
MSH2004BackwardsWalkingParameters	backward

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Detailed Description

Author:

Thomas Kindler <thomas.kindler@gmx.de>

Definition at line 10 of file MSH2004InvKinWalkingEngine.h.

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Constructor & Destructor Documentation

MSH2004InvKinWalkingEngine::MSH2004InvKinWalkingEngine (  InvKinWalkingEngine *  pEngine  )

Construct a new MSH Walking engine. Parameters: pEngine  InvKinWalkingEngine to use. Definition at line 17 of file MSH2004InvKinWalkingEngine.cpp.

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Member Function Documentation

bool MSH2004InvKinWalkingEngine::executeParameterized (  JointData &  jointData, const WalkRequest &  walkRequest, double  positionInWalkingCycle )  [virtual]

Calculates the next joint data set. Parameters: jointData  stores calculated frame walkRequest  the current motion request positionInWalkingCycle  The position in the walking cycle Returns: true if next set should be calculated by WalkingEngine, false if change to other module can occur Implements WalkingEngine. Definition at line 36 of file MSH2004InvKinWalkingEngine.cpp. References InvKinWalkingEngine::executeParameterized(), idText, INFO, Pose2D::rotation, InvKinWalkingEngine::setParameters(), Pose2D::translation, WalkRequest::walkParams, Vector2< double >::x, and Vector2< double >::y.

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bool MSH2004InvKinWalkingEngine::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 66 of file MSH2004InvKinWalkingEngine.cpp. References InvKinWalkingEngine::handleMessage().

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Member Data Documentation

InvKinWalkingEngine* MSH2004InvKinWalkingEngine::pEngine [protected]

Definition at line 14 of file MSH2004InvKinWalkingEngine.h.

MSH2004WalkingParameters MSH2004InvKinWalkingEngine::forward [protected]

Definition at line 15 of file MSH2004InvKinWalkingEngine.h.

MSH2004BackwardsWalkingParameters MSH2004InvKinWalkingEngine::backward [protected]

Definition at line 16 of file MSH2004InvKinWalkingEngine.h.

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

• Modules/WalkingEngine/MSH2004InvKinWalkingEngine.h
• Modules/WalkingEngine/MSH2004InvKinWalkingEngine.cpp

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