Motion Class Reference

A process for actorics. More...

#include <Motion.h>

Inheritance diagram for Motion:

[legend]Collaboration diagram for Motion:

[legend]List of all members.

Public Member Functions
	Motion ()
	~Motion ()
virtual int	main ()
	is called from the framework once in every frame
virtual bool	handleMessage (InMessage &message)
	The function handles incoming debug messages.
Protected Attributes
unsigned long	frameNumber
unsigned int	motionControlExecuteSlowMotion
double	gameSpeed
	Can be used to slow down the game for debugging purposes (slow motion).
bool	headIsBlockedBySpecialActionOrWalk
	Specifies if the head is blocked by a special action or walk.
modules
SensorDataProcessorSelector *	pSensorDataProcessor
	a reference to the sensor data processor
HeadControlSelector *	pHeadControl
	a pointer to the HeadControl module
LEDControlSelector *	pLEDControl
	a pointer to the LEDControl module
MotionControlSelector *	pMotionControl
	a pointer to the MotionControl module
SoundControlSelector *	pSoundControl
	a pointer to the SoundControl module
representations
HeadMotionRequest	headMotionRequest
	the head motion request
CameraMatrix	cameraMatrix
	The position and rotation of the camera relative to the robot.
PSDPercept	psdPercept
	The psd percept calculated by the sensor data processor.
BodyPercept	bodyPercept
	The body percept calculated by the sensor data processor.
BodyPosture	bodyPosture
	The height and the inclination of the robot's body.
OdometryData	lastOdometry
	The odometry which was calculated in the before last frame.
unsigned long	lastFrameRobotPoseWasUpdated
	Frame number in which robot pose was last updated.
RingBuffer< OdometryData, 40 >	odometryHistory
	Used to update robot pose.
Private Member Functions
	RECEIVER (SensorDataBuffer)
	RECEIVER (PackageCognitionMotion)
	SENDER (PackageMotionCognition)
	SENDER (OdometryData)
Private Attributes
	DEBUGGING
	SENDER_MOTORCOMMANDS
	SENDER_SOUNDDATA

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Detailed Description

A process for actorics.

Definition at line 27 of file Motion.h.

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Constructor & Destructor Documentation

Motion::Motion (   )

Definition at line 16 of file Motion.cpp. References Process::debugOut, INIT_DEBUGGING, INIT_RECEIVER, INIT_RECEIVER_SENSORDATA, INIT_SENDER, INIT_SENDER_MOTORCOMMANDS, INIT_SENDER_SOUNDDATA, pHeadControl, pLEDControl, pMotionControl, pSoundControl, and MessageQueue::setSize().

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Motion::~Motion (   )

Definition at line 91 of file Motion.cpp. References pHeadControl, pLEDControl, pMotionControl, and pSoundControl.

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Member Function Documentation

Motion::RECEIVER (  SensorDataBuffer   )  [private]

Motion::RECEIVER (  PackageCognitionMotion   )  [private]

Motion::SENDER (  PackageMotionCognition   )  [private]

Motion::SENDER (  OdometryData   )  [private]

int Motion::main (   )  [virtual]

is called from the framework once in every frame Implements Process. Definition at line 100 of file Motion.cpp. References RingBuffer< OdometryData, 40 >::add(), ModuleSelector::execute(), gameSpeed, SystemCall::getCurrentSystemTime(), RingBuffer< OdometryData, 40 >::getEntry(), getPlayer(), SystemCall::getTimeSince(), idBodyPosture, idJointData, idMotionInfo, idText, INFO, lastFrameRobotPoseWasUpdated, motionControlExecuteSlowMotion, odometryHistory, OUTPUT, pHeadControl, pLEDControl, pMotionControl, pSoundControl, Player::setTeamColor(), and STOP_TIME_ON_REQUEST.

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

The function handles incoming debug messages. Parameters: message  the message to handle Returns: Has the message been handled? Reimplemented from Process. Definition at line 194 of file Motion.cpp. References InMessage::bin, gameSpeed, InMessage::getMessageID(), getRobotConfiguration(), Process::handleMessage(), ModuleSelector::handleMessage(), RobotConfiguration::handleMessage(), idBodyOffsets, idGameSpeed, idHeadMotionRequest, idMotionControlSlowMotion, idOdometryData, idOdometryScale, idPIDData, idXabsl2DebugRequest, motionControlExecuteSlowMotion, pHeadControl, and pMotionControl.

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Member Data Documentation

Motion::DEBUGGING [private]

Definition at line 30 of file Motion.h.

Motion::SENDER_MOTORCOMMANDS [private]

Definition at line 34 of file Motion.h.

Motion::SENDER_SOUNDDATA [private]

Definition at line 35 of file Motion.h.

SensorDataProcessorSelector* Motion::pSensorDataProcessor [protected]

a reference to the sensor data processor Definition at line 59 of file Motion.h.

HeadControlSelector* Motion::pHeadControl [protected]

a pointer to the HeadControl module Definition at line 62 of file Motion.h. Referenced by handleMessage(), main(), Motion(), and ~Motion().

LEDControlSelector* Motion::pLEDControl [protected]

a pointer to the LEDControl module Definition at line 65 of file Motion.h. Referenced by main(), Motion(), and ~Motion().

MotionControlSelector* Motion::pMotionControl [protected]

a pointer to the MotionControl module Definition at line 68 of file Motion.h. Referenced by handleMessage(), main(), Motion(), and ~Motion().

SoundControlSelector* Motion::pSoundControl [protected]

a pointer to the SoundControl module Definition at line 71 of file Motion.h. Referenced by main(), Motion(), and ~Motion().

unsigned long Motion::frameNumber [protected]

Definition at line 75 of file Motion.h.

unsigned int Motion::motionControlExecuteSlowMotion [protected]

Definition at line 77 of file Motion.h. Referenced by handleMessage(), and main().

HeadMotionRequest Motion::headMotionRequest [protected]

the head motion request Definition at line 83 of file Motion.h.

CameraMatrix Motion::cameraMatrix [protected]

The position and rotation of the camera relative to the robot. Definition at line 86 of file Motion.h.

PSDPercept Motion::psdPercept [protected]

The psd percept calculated by the sensor data processor. Definition at line 89 of file Motion.h.

BodyPercept Motion::bodyPercept [protected]

The body percept calculated by the sensor data processor. Definition at line 92 of file Motion.h.

BodyPosture Motion::bodyPosture [protected]

The height and the inclination of the robot's body. Definition at line 95 of file Motion.h.

OdometryData Motion::lastOdometry [protected]

The odometry which was calculated in the before last frame. Definition at line 98 of file Motion.h.

unsigned long Motion::lastFrameRobotPoseWasUpdated [protected]

Frame number in which robot pose was last updated. Definition at line 101 of file Motion.h. Referenced by main().

RingBuffer<OdometryData,40> Motion::odometryHistory [protected]

Used to update robot pose. Definition at line 104 of file Motion.h. Referenced by main().

double Motion::gameSpeed [protected]

Can be used to slow down the game for debugging purposes (slow motion). Is multiplied to the incoming MotionRequest and to the outgoing executedMotionRequest. 1: Normal speed -- 0.1: almost dont move Definition at line 112 of file Motion.h. Referenced by handleMessage(), and main().

bool Motion::headIsBlockedBySpecialActionOrWalk [protected]

Specifies if the head is blocked by a special action or walk. Definition at line 115 of file Motion.h.

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

• Processes/CMD/Motion.h
• Processes/CMD/Motion.cpp

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