WalkingEngineInterfaces Class Reference

The interfaces of the module WalkingEngine. More...

#include <WalkingEngine.h>

Inheritance diagram for WalkingEngineInterfaces:

[legend]Collaboration diagram for WalkingEngineInterfaces:

[legend]List of all members.

Public Member Functions
	WalkingEngineInterfaces (const SensorDataBuffer &sensorDataBuffer, const InvKinWalkingParameters &invKinWalkingParameters, const GT2004Parameters &gt2004Parameters, const unsigned long &walkParameterTimeStamp, const bool &receivedNewSensorData, const MotionRequest::MotionID &lastMotionType, PIDData &pidData, OdometryData &odometryData, MotionInfo &motionInfo)
	Constructor.
Protected Attributes
const SensorDataBuffer &	sensorDataBuffer
	The sensor data buffer containing all joint angles and others.
const InvKinWalkingParameters &	invKinWalkingParameters
	walking parameter sets to be used by the WalkingEngine, eg calculated by evolution behavior
const GT2004Parameters &	gt2004Parameters
const unsigned long &	walkParameterTimeStamp
const bool &	receivedNewSensorData
	Indicates that the Motion Process received a new SensorDataBuffer.
const MotionRequest::MotionID &	lastMotionType
	The motion type of the previous frame.
PIDData &	pidData
	The current PID servo gains.
OdometryData &	odometryData
	Has to be incremented by the walking engine.
MotionInfo &	motionInfo
	The neck height and the body tilt to be estimated by the walking engine.

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Detailed Description

The interfaces of the module WalkingEngine.

Definition at line 27 of file WalkingEngine.h.

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Constructor & Destructor Documentation

WalkingEngineInterfaces::WalkingEngineInterfaces (  const SensorDataBuffer &  sensorDataBuffer, const InvKinWalkingParameters &  invKinWalkingParameters, const GT2004Parameters &  gt2004Parameters, const unsigned long &  walkParameterTimeStamp, const bool &  receivedNewSensorData, const MotionRequest::MotionID &  lastMotionType, PIDData &  pidData, OdometryData &  odometryData, MotionInfo &  motionInfo )  [inline]

Constructor. Definition at line 31 of file WalkingEngine.h.

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Member Data Documentation

const SensorDataBuffer& WalkingEngineInterfaces::sensorDataBuffer [protected]

The sensor data buffer containing all joint angles and others. Definition at line 54 of file WalkingEngine.h.

const InvKinWalkingParameters& WalkingEngineInterfaces::invKinWalkingParameters [protected]

walking parameter sets to be used by the WalkingEngine, eg calculated by evolution behavior Definition at line 57 of file WalkingEngine.h.

const GT2004Parameters& WalkingEngineInterfaces::gt2004Parameters [protected]

Definition at line 58 of file WalkingEngine.h.

const unsigned long& WalkingEngineInterfaces::walkParameterTimeStamp [protected]

Definition at line 59 of file WalkingEngine.h.

const bool& WalkingEngineInterfaces::receivedNewSensorData [protected]

Indicates that the Motion Process received a new SensorDataBuffer. Definition at line 62 of file WalkingEngine.h.

const MotionRequest::MotionID& WalkingEngineInterfaces::lastMotionType [protected]

The motion type of the previous frame. Definition at line 65 of file WalkingEngine.h.

PIDData& WalkingEngineInterfaces::pidData [protected]

The current PID servo gains. Definition at line 68 of file WalkingEngine.h.

OdometryData& WalkingEngineInterfaces::odometryData [protected]

Has to be incremented by the walking engine. Definition at line 71 of file WalkingEngine.h.

MotionInfo& WalkingEngineInterfaces::motionInfo [protected]

The neck height and the body tilt to be estimated by the walking engine. Definition at line 74 of file WalkingEngine.h.

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

• Modules/WalkingEngine/WalkingEngine.h

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