WalkRequest Class Reference

A request to walk at a specified velocity or for a specific distance, to be used in a SignalTrans. More...

#include <WalkNode.h>

Detailed Description

A request to walk at a specified velocity or for a specific distance, to be used in a SignalTrans.

Recommended usage is via the velocity() and displacement() generators

Definition at line 17 of file WalkNode.h.

Public Member Functions
	WalkRequest ()
	Constructor.
	WalkRequest (const std::string &paramFile)
	Constructor.
	WalkRequest (float xvel, float yvel, float avel, const std::string &paramFile="")
	Constructor: velocities in mm/sec and radians/sec.
	WalkRequest (float x_, float y_, float a_, float time_, bool isVelocity, const std::string &paramFile="")
	Constructor.
bool	operator== (const WalkRequest &other) const
Static Public Member Functions
static WalkRequest	velocity (float x, float y, float a, float time=-1, const std::string &paramFile="")
	Generator to call the constructor with appropriate arguments, a little more concise/readable than using the constructor directly.
static WalkRequest	displacement (float x, float y, float a, float time=0, const std::string &paramFile="")
	Generator to call the constructor with appropriate arguments, a little more concise/readable than using the constructor directly.
Public Attributes
float	x
float	y
float	a
float	time
bool	velocityMode
bool	storedVelocities
std::string	filename

WalkRequest::WalkRequest ( )

Constructor.

Definition at line 20 of file WalkNode.h.

WalkRequest::WalkRequest ( const std::string & paramFile )

Constructor.

Definition at line 23 of file WalkNode.h.

Constructor: velocities in mm/sec and radians/sec.

Definition at line 26 of file WalkNode.h.

Constructor.

Parameters:

	x_	if isVelocity, the speed (mm/s) to move forward, else the distance (mm)
	y_	if isVelocity, the speed (mm/s) to move to the left, else the distance (mm)
	a_	if isVelocity, 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
	isVelocity	controls interpretation of x, y, and a
	paramFile	loads a parameter file to control walk gait

Definition at line 36 of file WalkNode.h.

static WalkRequest WalkRequest::displacement	(	float	x,
		float	y,
		float	a,
		float	time = `0`,
		const std::string &	paramFile = `""`
	)			`[static]`

Generator to call the constructor with appropriate arguments, a little more concise/readable than using the constructor directly.

Parameters:

	x	the distance (mm) to move forward
	y	the distance (mm) to move to the left
	a	the distance (radians) to rotate to the left
	time	the duration of the walk (seconds), the velocity will still be subject to the walk's calculated limits, so just pass 0 for max speed
	paramFile	loads a parameter file to control walk gait

Definition at line 53 of file WalkNode.h.

bool WalkRequest::operator== ( const WalkRequest & other ) const

static WalkRequest WalkRequest::velocity	(	float	x,
		float	y,
		float	a,
		float	time = `-1`,
		const std::string &	paramFile = `""`
	)			`[static]`

Generator to call the constructor with appropriate arguments, a little more concise/readable than using the constructor directly.

Parameters:

	x	the speed (mm/s) to move forward
	y	the speed (mm/s) to move to the left
	a	the speed (radians/s) to rotate to the left
	time	the duration of the walk (seconds)
	paramFile	loads a parameter file to control walk gait