WalkAccelerationRestrictor Class Reference

Provides functionality for restriction changes in walk speed to maximum values. More...

#include <WalkAccelerationRestrictor.h>

Collaboration diagram for WalkAccelerationRestrictor:

[legend]List of all members.

Public Member Functions
	WalkAccelerationRestrictor (MotionRequest &motionRequest)
	Constructor.
void	restrictAccelerations (double maxTranslationXAcceleration, double maxTranslationYAcceleration, double maxRotationAcceleration)
	Smoothes a walk motion.
void	saveLastWalkParameters ()
	Saves the walk parameters of the last motion request.
Protected Attributes
unsigned long	timeOfLastExecution
	The time when the skill was executed last, used by smoothWalk.
double	lastTranslationX
	x translation of the last motion request, used by smoothWalk
double	lastTranslationY
	y translation of the last motion request, used by smoothWalk
double	lastRotation
	rotation of the last motion request, used by smoothWalk
MotionRequest &	mr
	A reference to the motion request.

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Detailed Description

Provides functionality for restriction changes in walk speed to maximum values.

Author:

Martin Lötzsch

Definition at line 21 of file WalkAccelerationRestrictor.h.

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Constructor & Destructor Documentation

WalkAccelerationRestrictor::WalkAccelerationRestrictor (  MotionRequest &  motionRequest  )

Constructor. Parameters: motionRequest  A reference to the motion request that shall be smoothed Definition at line 12 of file WalkAccelerationRestrictor.cpp.

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Member Function Documentation

void WalkAccelerationRestrictor::restrictAccelerations (  double  maxTranslationXAcceleration, double  maxTranslationYAcceleration, double  maxRotationAcceleration )

Smoothes a walk motion. Changes in speed are clipped to a maximum acceleration. Execute that function at the end of the execution of a basic behavior. Parameters: maxTranslationXAcceleration  maximum x translation acceleration (in mm/s^2) maxTranslationYAcceleration  maximum y translation acceleration (in mm/s^2) maxRotationAcceleration  maximum rotation acceleration (in Deg/s^2) Definition at line 33 of file WalkAccelerationRestrictor.cpp. References fromDegrees(), SystemCall::getCurrentSystemTime(), lastRotation, lastTranslationX, lastTranslationY, mr, Pose2D::rotation, timeOfLastExecution, Pose2D::translation, WalkRequest::walkParams, MotionRequest::walkRequest, Vector2< double >::x, and Vector2< double >::y. Referenced by GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoForwardToPoint::execute(), GT2004BasicBehaviorGoaliePositionReturn::execute(), and BasicBehaviorStand::execute().

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void WalkAccelerationRestrictor::saveLastWalkParameters (   )

Saves the walk parameters of the last motion request. Should be used at the start of the execution of a skill. Definition at line 17 of file WalkAccelerationRestrictor.cpp. References lastRotation, lastTranslationX, lastTranslationY, MotionRequest::motionType, mr, Pose2D::rotation, Pose2D::translation, WalkRequest::walkParams, MotionRequest::walkRequest, Vector2< double >::x, and Vector2< double >::y. Referenced by GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoForwardToPoint::execute(), GT2004BasicBehaviorGoaliePositionReturn::execute(), and BasicBehaviorStand::execute().

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Member Data Documentation

unsigned long WalkAccelerationRestrictor::timeOfLastExecution [protected]

The time when the skill was executed last, used by smoothWalk. Definition at line 49 of file WalkAccelerationRestrictor.h. Referenced by restrictAccelerations().

double WalkAccelerationRestrictor::lastTranslationX [protected]

x translation of the last motion request, used by smoothWalk Definition at line 52 of file WalkAccelerationRestrictor.h. Referenced by restrictAccelerations(), and saveLastWalkParameters().

double WalkAccelerationRestrictor::lastTranslationY [protected]

y translation of the last motion request, used by smoothWalk Definition at line 55 of file WalkAccelerationRestrictor.h. Referenced by restrictAccelerations(), and saveLastWalkParameters().

double WalkAccelerationRestrictor::lastRotation [protected]

rotation of the last motion request, used by smoothWalk Definition at line 58 of file WalkAccelerationRestrictor.h. Referenced by restrictAccelerations(), and saveLastWalkParameters().

MotionRequest& WalkAccelerationRestrictor::mr [protected]

A reference to the motion request. Definition at line 61 of file WalkAccelerationRestrictor.h. Referenced by restrictAccelerations(), and saveLastWalkParameters().

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

• Tools/Actorics/WalkAccelerationRestrictor.h
• Tools/Actorics/WalkAccelerationRestrictor.cpp

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