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CMPackWalkMC.h File Reference

Describes CMPackWalkMC, a MotionCommand for walking around. More...

#include "MotionCommand.h"
#include "Geometry.h"
#include <math.h>
#include "Shared/Util.h"
#include "Geometry.h"
#include "Shared/get_time.h"
#include "OutputCmd.h"
#include "Shared/LoadSave.h"
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class  CMPackWalkMC
 A nice walking class from Carnegie Mellon University's 2001 Robosoccer team, modified to fit this framework, see their license More...
struct  CMPackWalkMC::LegWalkState
 holds state about each leg's path More...
struct  CMPackWalkMC::LegParam
 holds parameters about how to move each leg More...
struct  CMPackWalkMC::WalkParam
 holds more general parameters about the walk More...
struct  CMPackWalkMC::CalibrationParam
 holds information to correct for slippage, non-idealities More...

Detailed Description

Describes CMPackWalkMC, a MotionCommand for walking around.

CMU RoboSoccer 2001-2002 (Creator)
ejt (ported)
PA Gov. School for the Sciences 2003 Team Project - Haoqian Chen, Yantian Martin, Jon Stahlman (modifications)
    CMPack'02 Source Code Release for OPEN-R SDK v1.0
    Copyright (C) 2002 Multirobot Lab [Project Head: Manuela Veloso]
    School of Computer Science, Carnegie Mellon University
    This software is distributed under the GNU General Public License,
    version 2.  If you do not have a copy of this licence, visit
    www.gnu.org, or write: Free Software Foundation, 59 Temple Place,
    Suite 330 Boston, MA 02111-1307 USA.  This program is distributed
    in the hope that it will be useful, but WITHOUT ANY WARRANTY,
    Additionally licensed to Sony Corporation under the following terms:

    This software is provided by the copyright holders AS IS and any
    express or implied warranties, including, but not limited to, the
    implied warranties of merchantability and fitness for a particular
    purpose are disclaimed.  In no event shall authors be liable for
    any direct, indirect, incidental, special, exemplary, or consequential
    damages (including, but not limited to, procurement of substitute
    goods or services; loss of use, data, or profits; or business
    interruption) however caused and on any theory of liability, whether
    in contract, strict liability, or tort (including negligence or
    otherwise) arising in any way out of the use of this software, even if
    advised of the possibility of such damage.

Definition in file CMPackWalkMC.h.

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