GaitedFootstepMC Class Reference

Executes a series of footsteps, probably generated by applying astar() to a GaitedFootsteps domain. More...

#include <GaitedFootstepMC.h>

Inheritance diagram for GaitedFootstepMC:

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Detailed Description

Executes a series of footsteps, probably generated by applying astar() to a GaitedFootsteps domain.

Definition at line 12 of file GaitedFootstepMC.h.

List of all members.

Public Member Functions
	GaitedFootstepMC ()
	Constructor.
virtual int	updateOutputs ()
	is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager
virtual int	isDirty ()
	not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful
virtual int	isAlive ()
	used to prune "dead" motions from the MotionManager
void	setGait (const XWalkParameters &p, bool resetSpeeds=true)
	Assign gait settings.
void	setGait (const std::string &file, bool resetSpeeds=true)
	Load gait parameters from a file.
void	setSteps (const std::vector< GaitedFootsteps::State > &st)
	Specify steps to perform.
void	setSpeed (fmat::fmatReal x, fmat::fmatReal y, fmat::fmatReal a)
	Specify speeds for translation (mm/s) and rotation (rad/s).
Protected Member Functions
fmat::Column< 2 >	curBodyOffset (double t)
	updates active step and returns offset of body position from current step's initial location
bool	advanceStep ()
	increments curStep and dependent values
void	solveIK (unsigned int leg, const IKSolver::Point &tgt)
	solves inverse kinematics and send affected output values to motion manager
virtual void	doStart ()
	Override this if you want to run some startup code after being added to the MotionManager.
virtual void	doStop ()
	Override this if you want to clean up after removal from MotionManager.
Protected Attributes
XWalkParameters	xp
fmat::Column< 3 >	ground
fmat::Column< 3 >	gravity
std::vector < GaitedFootsteps::State >	steps
unsigned int	curStep
	current step index, indicates transition to curStep+1, never increments past steps.size()-1
fmat::Column< 2 >	xySpeed
fmat::fmatReal	aSpeed
bool	newStep
double	stepStartTime
	clock time in second of beginning of step
double	stepDuration
	duration in seconds
bool	support [NumLegs]
	set to true if the leg is in support phase (i.e. not moving to new contact)
DriverMessaging::FixedPoints	contactMsg
	list of current contact points, for better Mirage simulation
Static Protected Attributes
static KinematicJoint *	kine = NULL
static KinematicJoint *	childMap [NumReferenceFrames]

Constructor & Destructor Documentation

GaitedFootstepMC::GaitedFootstepMC ( )

Constructor.

Definition at line 15 of file GaitedFootstepMC.h.

Member Function Documentation

bool GaitedFootstepMC::advanceStep ( ) [protected]

increments curStep and dependent values

internal function, assumes curStep is at most next-to-last

Definition at line 113 of file GaitedFootstepMC.cc.

Referenced by setSteps(), and updateOutputs().

fmat::Column< 2 > GaitedFootstepMC::curBodyOffset ( double t ) [protected]

updates active step and returns offset of body position from current step's initial location

internal function, assumes curStep is at most next-to-last

Definition at line 106 of file GaitedFootstepMC.cc.

Referenced by updateOutputs().

virtual void GaitedFootstepMC::doStart ( ) [protected, virtual]

Override this if you want to run some startup code after being added to the MotionManager.

Reimplemented from MotionCommand.

Definition at line 71 of file GaitedFootstepMC.h.

virtual void GaitedFootstepMC::doStop ( ) [protected, virtual]

Override this if you want to clean up after removal from MotionManager.

The old MotionManagerMsg::mc_id will still be available, but this value is no longer valid within the MotionManager. Only use it if you need to clean up associated values stored elsewhere.

Reimplemented from MotionCommand.

Definition at line 72 of file GaitedFootstepMC.h.

virtual int GaitedFootstepMC::isAlive ( ) [virtual]

used to prune "dead" motions from the MotionManager

note that a motion could be "paused" or inactive and therefore not dirty, but still alive, biding its time to "strike" ;)