PostureNode Class Reference
A simple StateNode that executes a PostureMC motion command. More...
#include <PostureNode.h>
Detailed Description
A simple StateNode that executes a PostureMC motion command.
Caches the posture file in a private PostureEngine because the motion command might be shared with other functions that are using it for other purposes
Definition at line 21 of file PostureNode.h.
Public Member Functions | |
| PostureNode (const std::string &nodename=defPostureNodeName, const std::string &filename=std::string()) | |
| Constructor: takes optional instance name and filename. | |
| virtual void | preStart () |
| Adds the motion command to the motion manager, add a listener for the motion's completion event. | |
| virtual void | loadFile (const std::string &filename) |
| loads the specified file into posture, note this doesn't affect the current PostureMC, just the cached one which will be loaded into it on next activation. See getPosture(), getMC_ID() | |
| virtual PostureEngine & | getPosture () |
| accessor for posture, note this doesn't affect the current PostureMC, just the cached one which will be loaded into it on next activation. See getMC_ID() | |
| virtual const PostureEngine & | getPosture () const |
| accessor for posture, note this doesn't return the current PostureMC, just the cached one which will be loaded into it on next activation. See getMC_ID() | |
Protected Attributes | |
| PostureEngine | posture |
| The internal cache of joint positions, copied to the motion command when activated. | |
Constructor & Destructor Documentation
| PostureNode::PostureNode | ( | const std::string & | nodename = defPostureNodeName, |
|
| const std::string & | filename = std::string() | |||
| ) |
Constructor: takes optional instance name and filename.
Caches the posture file in a private PostureEngine because the motion command might be shared with other functions that are using it for other purposes
Definition at line 28 of file PostureNode.h.
Member Function Documentation
| virtual const PostureEngine& PostureNode::getPosture | ( | ) | const [virtual] |
accessor for posture, note this doesn't return the current PostureMC, just the cached one which will be loaded into it on next activation. See getMC_ID()
Definition at line 49 of file PostureNode.h.
| virtual PostureEngine& PostureNode::getPosture | ( | ) | [virtual] |
accessor for posture, note this doesn't affect the current PostureMC, just the cached one which will be loaded into it on next activation. See getMC_ID()
Definition at line 47 of file PostureNode.h.
| virtual void PostureNode::loadFile | ( | const std::string & | filename | ) | [virtual] |
loads the specified file into posture, note this doesn't affect the current PostureMC, just the cached one which will be loaded into it on next activation. See getPosture(), getMC_ID()
Definition at line 41 of file PostureNode.h.
| virtual void PostureNode::preStart | ( | ) | [virtual] |
Adds the motion command to the motion manager, add a listener for the motion's completion event.
Reimplemented from MCNodeBase.
Definition at line 35 of file PostureNode.h.
Member Data Documentation
PostureEngine PostureNode::posture [protected] |
The internal cache of joint positions, copied to the motion command when activated.
This allows the motion command to be shared by other nodes/behaviors, which might modify the posture on an ongoing basis.
Definition at line 55 of file PostureNode.h.
Referenced by getPosture(), loadFile(), PostureNode(), and preStart().
The documentation for this class was generated from the following file:
