WalkingEngine Class Reference

A generic class for walking engine modules. More...

#include <WalkingEngine.h>

Inheritance diagram for WalkingEngine:

[legend]Collaboration diagram for WalkingEngine:

[legend]List of all members.

Public Member Functions
	WalkingEngine (const WalkingEngineInterfaces &interfaces)
virtual bool	executeParameterized (JointData &jointData, const WalkRequest &walkRequest, double positionInWalkingCycle)=0
	Calculates the next joint data set.
virtual	~WalkingEngine ()
	Destructor.
Private Member Functions
virtual void	execute ()
	That function is not used but has to be implemented.

---

Detailed Description

A generic class for walking engine modules.

It generates JointData and OdometryData according to current MotionRequest executing walking type motions.

Definition at line 83 of file WalkingEngine.h.

---

Constructor & Destructor Documentation

WalkingEngine::WalkingEngine (  const WalkingEngineInterfaces &  interfaces  )  [inline]

Definition at line 90 of file WalkingEngine.h. References getRobotConfiguration().

Here is the call graph for this function:

virtual WalkingEngine::~WalkingEngine (   )  [inline, virtual]

Destructor. Definition at line 107 of file WalkingEngine.h.

---

Member Function Documentation

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

Calculates the next joint data set. Parameters: jointData  stores calculated frame walkRequest  The current motion request positionInWalkingCycle  A request position for the walkcycle. Returns: true if next set should be calculated by WalkingEngine false if change to other module can occur Implemented in BB2004InvKinWalkingEngine, GT2004WalkingEngine, InvKinWalkingEngine, ParamInvKinWalkingEngine, ParamRearOnlyInvKinWalkingEngine, MSH2004InvKinWalkingEngine, and WalkingEngineSelector. Referenced by GT2004MotionControl::execute().

virtual void WalkingEngine::execute (   )  [inline, private, virtual]

That function is not used but has to be implemented. Implements Module. Definition at line 111 of file WalkingEngine.h.

---

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

• Modules/WalkingEngine/WalkingEngine.h

---