WalkNode Class Reference

A StateNode for walking using WalkMC. More...

#include <WalkNode.h>

Inheritance diagram for WalkNode:

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Detailed Description

A StateNode for walking using WalkMC.

The WalkNode can handle either velocities or displacements.

To specify a velocity with no end, use the 3-tuple constructor:

  WalkNode(vx,vy,va)

To specify a velocity for a specific amount of time, which will then trigger a completion event:

  WalkNode(vx,vy,va, time, WalkNode::VEL)

(You could also use the "endless" velocity constructor with a TimeOutTrans)

To have WalkNode interpret the (x,y,a) as a distance to travel instead of velocity, pass false at the end instead:

  WalkNode(dx,dy,da, time, WalkNode::DISP)

The time will be subject to speed limits of the underlying WalkMC, so it may take more time to complete. In particular, this means you can simply pass time=0 for a displacement and this will be extended to the maximum speed:

  WalkNode(dx,dy,da, 0, WalkNode::DISP); // zero time implies max speed for displacements

Definition at line 89 of file WalkNode.h.

List of all members.

Public Types
enum	Mode_t { DISP = 0, VEL = 1 }
Public Member Functions
	WalkNode ()
	constructor
	WalkNode (const std::string &name, const std::string filename="")
	constructor
	WalkNode (float xvel, float yvel, float avel, const std::string filename="")
	constructor: velocities in mm/sec and radians/sec
	WalkNode (const std::string &name, float xvel, float yvel, float avel, const std::string filename="")
	constructor: velocities in mm/sec and radians/sec
	WalkNode (float x, float y, float a, float time, Mode_t velocityMode, const std::string filename="")
	constructor: displacements in mm and radians, time parameter in seconds but will be extended to fit within max speed
	WalkNode (const std::string &name, float x, float y, float a, float time, Mode_t velocityMode, const std::string filename="")
	constructor: pass displacement as velocity or distance and time, isVelocity controls interpretation of x, y, and a
void	setDisplacement (float xdist, float ydist, float adist, float time=0)
	sets the velocity of the walk
void	setVelocity (float xvel, float yvel, float avel)
	sets the velocity of the walk
void	setVelocity (float xvel, float yvel, float avel, float time)
	sets the velocity of the walk
virtual void	stop ()
	Removes the motion command from the motion manager if it was our own creation.
Protected Member Functions
virtual void	preStart ()
	Adds the motion command to the motion manager, add a listener for the motion's completion event.
virtual void	postStart ()
	Called by start() after the doStart(), allows superclasses to complete initialization.
Protected Attributes
WalkRequest	req
	stores settings from constructor or a signal transition

Member Enumeration Documentation

enum WalkNode::Mode_t

Enumerator:

DISP	use with constructors to indicate displacement mode
VEL	use with constructors to indicate velocity mode

Definition at line 91 of file WalkNode.h.

Constructor & Destructor Documentation

WalkNode::WalkNode ( )

constructor

Definition at line 97 of file WalkNode.h.

WalkNode::WalkNode	(	const std::string &	name,
		const std::string	filename = `""`
	)

constructor

Definition at line 100 of file WalkNode.h.

WalkNode::WalkNode	(	float	xvel,
		float	yvel,
		float	avel,
		const std::string	filename = `""`
	)

constructor: velocities in mm/sec and radians/sec

Definition at line 104 of file WalkNode.h.

WalkNode::WalkNode	(	const std::string &	name,
		float	xvel,
		float	yvel,
		float	avel,
		const std::string	filename = `""`
	)

constructor: velocities in mm/sec and radians/sec

Definition at line 108 of file WalkNode.h.

WalkNode::WalkNode	(	float	x,
		float	y,
		float	a,
		float	time,
		Mode_t	velocityMode,
		const std::string	filename = `""`
	)

constructor: displacements in mm and radians, time parameter in seconds but will be extended to fit within max speed

Parameters:

	x	if velocityMode is VEL, the speed (mm/s) to move forward, else the distance (mm)
	y	if velocityMode is VEL, the speed (mm/s) to move to the left, else the distance (mm)
	a	if velocityMode is VEL, the speed (radians/s) to rotate to the left, else the distance (radians)
	time	the duration of the walk (seconds), if isVelocity is false the velocity will still be subject to the walk's calculated limits, so just pass 0 for max speed
	velocityMode	controls interpretation of x, y, and a
	filename	loads a parameter file to control walk gait

Definition at line 118 of file WalkNode.h.

WalkNode::WalkNode	(	const std::string &	name,
		float	x,
		float	y,
		float	a,
		float	time,
		Mode_t	velocityMode,
		const std::string	filename = `""`
	)

constructor: pass displacement as velocity or distance and time, isVelocity controls interpretation of x, y, and a

Parameters:

	name	an instance name for the node (mostly useful for debugging)
	x	if velocityMode is VEL, the speed (mm/s) to move forward, else the distance (mm)
	y	if velocityMode is VEL, the speed (mm/s) to move to the left, else the distance (mm)
	a	if velocityMode is VEL, the speed (radians/s) to rotate to the left, else the distance (radians)
	time	the duration of the walk (seconds), if velocityMode is DISP the velocity will still be subject to the walk's calculated limits, so just pass 0 for max speed
	velocityMode	controls interpretation of x, y, and a
	filename	loads a parameter file to control walk gait

Definition at line 129 of file WalkNode.h.

Member Function Documentation

virtual void WalkNode::postStart ( ) [protected, virtual]

Called by start() after the doStart(), allows superclasses to complete initialization.

For robustness to future change, subclasses should be sure to call the superclass implementation.

Reimplemented from BehaviorBase.

virtual void WalkNode::preStart ( ) [protected, virtual]

Adds the motion command to the motion manager, add a listener for the motion's completion event.

Reimplemented from MCNodeBase.

void WalkNode::setDisplacement	(	float	xdist,
		float	ydist,
		float	adist,
		float	time = `0`
	)

sets the velocity of the walk

Parameters:

	xdist	x displacement (mm, positive is forward)
	ydist	y displacement (mm, positive is left)
	adist	angular displacement (rad, positive is counter-clockwise)
	time	how many seconds to take to achieve displacement (limited to walk's max speed, so time=0 implies max speed)

void WalkNode::setVelocity	(	float	xvel,
		float	yvel,
		float	avel,
		float	time
	)

sets the velocity of the walk

Parameters:

	xvel	x velocity (mm/s, positive is forward)
	yvel	y velocity (mm/s, positive is left)
	avel	angular velocity (rad/s, positive is counter-clockwise)
	time	is seconds until stopping and posting completion

void WalkNode::setVelocity	(	float	xvel,
		float	yvel,
		float	avel
	)

sets the velocity of the walk

Parameters:

	xvel	x velocity (mm/s, positive is forward)
	yvel	y velocity (mm/s, positive is left)
	avel	angular velocity (rad/s, positive is counter-clockwise)

virtual void WalkNode::stop ( ) [virtual]

Removes the motion command from the motion manager if it was our own creation.

Reimplemented from MCNodeBase.

Member Data Documentation

WalkRequest WalkNode::req [protected]

stores settings from constructor or a signal transition

Definition at line 158 of file WalkNode.h.

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

WalkNode.h

WalkNode Class Reference

Detailed Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation