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MotionRequest Class Reference

This describes the MotionRequest. More...

#include <MotionRequest.h>

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List of all members.

Public Types

enum  MotionID {
  stand, walk, specialAction,
  getup, playDead, numOfMotion
}
 ids for all motion types More...


Public Member Functions

void setFrameNumber (unsigned long frameNumber)
 MotionRequest ()
 constructor, startup motion defined here

bool operator== (const MotionRequest &other) const
 == operator

void operator= (const MotionRequest &other)
 = operator

const char * getMotionName () const
 returns name of current motion

const char * getSpecialActionName () const
 returns name of current special action if any

const char * getWalkTypeName () const
 return name of current walking type if any

void printOut (char *destination) const
 Prints the motion request to a readable string.


Static Public Member Functions

const char * getMotionName (MotionID id)
 returns names for motion ids


Public Attributes

unsigned long frameNumber
MotionID motionType
 motion type

SpecialActionRequest specialActionRequest
 SpecialActionRequest.

TailRequest tailRequest
WalkRequest walkRequest
bool stabilize
 determines if the motion is being stabilized

bool updateRP
 turns on or off the propagation (by odometry) of the "robot pose" in the "motion" process

int padding
 Without this padding, the gcc-version crashes.

Detailed Description

This describes the MotionRequest.

Definition at line 329 of file MotionRequest.h.

Member Enumeration Documentation

enum MotionRequest::MotionID
 

ids for all motion types

Enumeration values:
stand 
walk 
specialAction 
getup 
playDead 
numOfMotion 

Definition at line 339 of file MotionRequest.h.

Constructor & Destructor Documentation

MotionRequest::MotionRequest (   )  [inline]
 

constructor, startup motion defined here

Definition at line 381 of file MotionRequest.h.

References motionType, playDead, stabilize, and updateRP.

Member Function Documentation

void MotionRequest::setFrameNumber (  unsigned long  frameNumber  )  [inline]
 

Definition at line 335 of file MotionRequest.h.

const char* MotionRequest::getMotionName (  MotionID  id  )  [inline, static]
 

returns names for motion ids

Definition at line 349 of file MotionRequest.h.

References getup, playDead, specialAction, and walk.

bool MotionRequest::operator== (  const MotionRequest &  other  )  const [inline]
 

== operator

Definition at line 384 of file MotionRequest.h.

References getup, motionType, specialAction, specialActionRequest, SpecialActionRequest::specialActionType, stabilize, walk, WalkRequest::walkParams, walkRequest, and WalkRequest::walkType.

void MotionRequest::operator= (  const MotionRequest &  other  ) 
 

= operator

Definition at line 37 of file MotionRequest.cpp.

const char* MotionRequest::getMotionName (   )  const [inline]
 

returns name of current motion

Definition at line 418 of file MotionRequest.h.

References motionType.

Referenced by printOut().

const char* MotionRequest::getSpecialActionName (   )  const [inline]
 

returns name of current special action if any

Definition at line 421 of file MotionRequest.h.

References SpecialActionRequest::getSpecialActionIDName(), motionType, specialAction, specialActionRequest, and SpecialActionRequest::specialActionType.

Referenced by printOut().

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const char* MotionRequest::getWalkTypeName (   )  const [inline]
 

return name of current walking type if any

Definition at line 430 of file MotionRequest.h.

References WalkRequest::getWalkTypeName(), motionType, walk, walkRequest, and WalkRequest::walkType.

Referenced by printOut().

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void MotionRequest::printOut (  char *  destination  )  const
 

Prints the motion request to a readable string.

(E.g. "NormalWalk 100,0,0")

Parameters:
destination The string to fill

Definition at line 14 of file MotionRequest.cpp.

References getMotionName(), getSpecialActionName(), getWalkTypeName(), motionType, Pose2D::rotation, specialAction, Pose2D::translation, walk, WalkRequest::walkParams, walkRequest, Vector2< double >::x, and Vector2< double >::y.

Referenced by Xabsl2BehaviorControl::printGeneratedMainActionToString().

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Member Data Documentation

unsigned long MotionRequest::frameNumber
 

Definition at line 333 of file MotionRequest.h.

MotionID MotionRequest::motionType
 

motion type

Definition at line 364 of file MotionRequest.h.

Referenced by GT2004MotionControl::determineMotionControlState(), SimpleMotionRecognition::execute(), ObstacleAvoiderOnGreenFieldERS7::execute(), ObstacleAvoiderOnGreenField::execute(), MotionRecognition::execute(), ImageSaver::execute(), BB2004Calibrator::execute(), GT2004MotionControl::execute(), GT2004CollisionDetector::execute(), KickLogger::execute(), GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute(), GT2004BasicBehaviorGoForwardToPoint::execute(), GT2004BasicBehaviorTurnAroundPoint::execute(), GT2004BasicBehaviorGoaliePositionReturn::execute(), GT2004BasicBehaviorGoaliePosition::execute(), GT2004BasicBehaviorGoToBallWithoutTurning::execute(), GT2004BasicBehaviorGoToBall::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), BasicBehaviorPlayDead::execute(), BasicBehaviorStand::execute(), BasicBehaviorSpecialAction::execute(), BasicBehaviorWalk::execute(), Xabsl2BehaviorControl::executeIfEngineCouldNotBeCreated(), InvKinWalkingEngine::executeParameterized(), GT2004WalkingEngine::executeParameterized(), GT2004GetupEngine::executeParameterized(), getMotionName(), GT2003MotionNetSpecialActions::getNextData(), getSpecialActionName(), getWalkTypeName(), MotionRequest(), operator==(), GT2004BehaviorControl::postExecute(), printOut(), GT2003MotionNetSpecialActions::readOdometryTable(), MotionRequestSymbols::registerSymbols(), WalkAccelerationRestrictor::saveLastWalkParameters(), GT2004MotionControl::setMotionControlState(), and MotionNetNode::toExecutedMotionRequest().

SpecialActionRequest MotionRequest::specialActionRequest
 

SpecialActionRequest.

Definition at line 367 of file MotionRequest.h.

Referenced by GT2004MotionControl::determineMotionControlState(), GT2004MotionControl::execute(), KickLogger::execute(), BasicBehaviorSpecialAction::execute(), Xabsl2BehaviorControl::executeIfEngineCouldNotBeCreated(), MotionRequestSymbols::getExecutedSpecialActionType(), GT2003MotionNetSpecialActions::getNextData(), getSpecialActionName(), operator==(), GT2003MotionNetSpecialActions::readOdometryTable(), and MotionNetNode::toExecutedMotionRequest().

TailRequest MotionRequest::tailRequest
 

Definition at line 369 of file MotionRequest.h.

Referenced by ObstacleAvoiderOnGreenFieldERS7::execute(), ObstacleAvoiderOnGreenField::execute(), BB2004Calibrator::execute(), GT2004BehaviorControl::preExecute(), HeadAndTailSymbols::registerSymbols(), and GT2004MotionControl::wagTail().

WalkRequest MotionRequest::walkRequest
 

Definition at line 371 of file MotionRequest.h.

Referenced by ObstacleAvoiderOnGreenFieldERS7::execute(), ObstacleAvoiderOnGreenField::execute(), BB2004Calibrator::execute(), GT2004MotionControl::execute(), GT2004CollisionDetector::execute(), GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute(), GT2004BasicBehaviorGoForwardToPoint::execute(), GT2004BasicBehaviorTurnAroundPoint::execute(), GT2004BasicBehaviorGoaliePositionReturn::execute(), GT2004BasicBehaviorGoaliePosition::execute(), GT2004BasicBehaviorGoToBallWithoutTurning::execute(), GT2004BasicBehaviorGoToBall::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), BasicBehaviorStand::execute(), BasicBehaviorWalk::execute(), InvKinWalkingEngine::executeParameterized(), GT2004WalkingEngine::executeParameterized(), getWalkTypeName(), operator==(), GT2004BehaviorControl::postExecute(), printOut(), MotionRequestSymbols::registerSymbols(), WalkAccelerationRestrictor::restrictAccelerations(), and WalkAccelerationRestrictor::saveLastWalkParameters().

bool MotionRequest::stabilize
 

determines if the motion is being stabilized

Definition at line 411 of file MotionRequest.h.

Referenced by MotionRequest(), operator==(), and MotionStabilizer::stabilize().

bool MotionRequest::updateRP
 

turns on or off the propagation (by odometry) of the "robot pose" in the "motion" process

Definition at line 415 of file MotionRequest.h.

Referenced by GT2004BasicBehaviorEvolveOmniParameters::execute(), and MotionRequest().

int MotionRequest::padding
 

Without this padding, the gcc-version crashes.

Definition at line 444 of file MotionRequest.h.

The documentation for this class was generated from the following files:
Generated on Thu Sep 23 20:09:46 2004 for GT2004 by doxygen 1.3.6