MotionStabilizer Class Reference

class/function that tries to stabilize the robot in such a way that no forces other then gravity act on the center of mass (or wherever the acceleration sensor is placed). More...

#include <MotionStabilizer.h>

Inheritance diagram for MotionStabilizer:

[legend]Collaboration diagram for MotionStabilizer:

[legend]List of all members.

Public Member Functions
	MotionStabilizer ()
bool	stabilize (MotionRequest::MotionID lastMotionType, const MotionRequest &motionRequest, JointData &jointData, OdometryData &odometryData, const SensorDataBuffer &sensorDataBuffer)
	takes all parameters used to generate a motion and alters the joint datas in order to stabilize the motion
Public Attributes
PIDsmoothedValue	accelX
PIDsmoothedValue	accelY
PIDsmoothedValue	accelZ
PIDsmoothedValue	xFore
PIDsmoothedValue	xHind
PIDsmoothedValue	yLeft
PIDsmoothedValue	yRight
double	stabilizerScale

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Detailed Description

class/function that tries to stabilize the robot in such a way that no forces other then gravity act on the center of mass (or wherever the acceleration sensor is placed).

idea is to stabilize walking movement of the robot.

Author:

Jan Hoffmann

Definition at line 29 of file MotionStabilizer.h.

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Constructor & Destructor Documentation

MotionStabilizer::MotionStabilizer (   )

Definition at line 11 of file MotionStabilizer.cpp.

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Member Function Documentation

bool MotionStabilizer::stabilize (  MotionRequest::MotionID  lastMotionType, const MotionRequest &  motionRequest, JointData &  jointData, OdometryData &  odometryData, const SensorDataBuffer &  sensorDataBuffer )

takes all parameters used to generate a motion and alters the joint datas in order to stabilize the motion Todo: this is no parameter documentation! Parameters: lastMotionType  motionRequest  jointData  odometryData  sensorDataBuffer  Returns: true if successfull Definition at line 23 of file MotionStabilizer.cpp. References accelX, accelY, accelZ, PIDsmoothedValue::approximateVal(), JointData::data, SensorData::data, SensorDataBuffer::frame, PIDsmoothedValue::getVal(), SensorDataBuffer::numOfFrames, MotionRequest::stabilize, stabilizerScale, xFore, xHind, yLeft, and yRight. Referenced by GT2004MotionControl::execute().

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Member Data Documentation

PIDsmoothedValue MotionStabilizer::accelX

Definition at line 55 of file MotionStabilizer.h. Referenced by stabilize().

PIDsmoothedValue MotionStabilizer::accelY

Definition at line 55 of file MotionStabilizer.h. Referenced by stabilize().

PIDsmoothedValue MotionStabilizer::accelZ

Definition at line 55 of file MotionStabilizer.h. Referenced by stabilize().

PIDsmoothedValue MotionStabilizer::xFore

Definition at line 55 of file MotionStabilizer.h. Referenced by stabilize().

PIDsmoothedValue MotionStabilizer::xHind

Definition at line 55 of file MotionStabilizer.h. Referenced by stabilize().

PIDsmoothedValue MotionStabilizer::yLeft

Definition at line 55 of file MotionStabilizer.h. Referenced by stabilize().

PIDsmoothedValue MotionStabilizer::yRight

Definition at line 55 of file MotionStabilizer.h. Referenced by stabilize().

double MotionStabilizer::stabilizerScale

Definition at line 58 of file MotionStabilizer.h. Referenced by stabilize().

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

• Modules/MotionControl/MotionStabilizer.h
• Modules/MotionControl/MotionStabilizer.cpp

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