LocomotionEvent Class Reference

Gives updates regarding the current movement of the robot through the world. More...

#include <LocomotionEvent.h>

Inheritance diagram for LocomotionEvent:

Detailed Description

Gives updates regarding the current movement of the robot through the world.

An activate event will be sent when a potential source of motion is created, and a deactivate when it is destroyed. Status events will be sent at any change of direction/speed.

The source ID field will hold the MotionManager::MC_ID of the sending MotionCommand

Definition at line 15 of file LocomotionEvent.h.

List of all members.

Public Member Functions
virtual unsigned int	getClassTypeID () const
	All subclasses should override this and return a unique ID for their class.
LocomotionEvent &	setXYA (float X, float Y, float A)
	Allows you to set the new X, Y, and A components.
virtual std::string	getDescription (bool showTypeSpecific=true, unsigned int verbosity=0) const
	generates a description of the event with variable verbosity
virtual unsigned int	getBinSize () const
	should return the minimum size needed if using binary format (i.e. not XML)
virtual unsigned int	loadBinaryBuffer (const char buf[], unsigned int len)
	load from binary format
virtual unsigned int	saveBinaryBuffer (char buf[], unsigned int len) const
	save to binary format
virtual void	loadXML (xmlNode *node)
	load from XML format
virtual void	saveXML (xmlNode *node) const
	Returns true if this event indicates motion has stopped (x,y,a are all essentially zero; may not be exactly zero in Mirage).
virtual bool	isStop () const
Constructors

	LocomotionEvent ()
	constructor
	LocomotionEvent (EventGeneratorID_t gid, size_t sid, EventTypeID_t tid, unsigned int dur=0)
	constructor
	LocomotionEvent (EventGeneratorID_t gid, size_t sid, EventTypeID_t tid, unsigned int dur, const std::string &n, float mag)
	constructor
virtual EventBase *	clone () const
	constructor
Public Attributes
float	x
	the new x component (body relative)
float	y
	the new y component (body relative)
float	a
	the new angular component (body relative)
Static Protected Attributes
static const EventBase::classTypeID_t	autoRegisterLocomotionEvent = getTypeRegistry().registerType<LocomotionEvent>(makeClassTypeID("LOCO"))
	causes class type id to automatically be registered with EventBase's FamilyFactory (getTypeRegistry())

Constructor & Destructor Documentation

LocomotionEvent::LocomotionEvent ( )

constructor

Definition at line 21 of file LocomotionEvent.h.

Referenced by clone().

LocomotionEvent::LocomotionEvent	(	EventGeneratorID_t	gid,
		size_t	sid,
		EventTypeID_t	tid,
		unsigned int	dur = `0`
	)

constructor

Definition at line 22 of file LocomotionEvent.h.

LocomotionEvent::LocomotionEvent	(	EventGeneratorID_t	gid,
		size_t	sid,
		EventTypeID_t	tid,
		unsigned int	dur,
		const std::string &	n,
		float	mag
	)

constructor

Definition at line 23 of file LocomotionEvent.h.

Member Function Documentation

virtual EventBase* LocomotionEvent::clone ( ) const [virtual]

constructor

Reimplemented from EventBase.

Definition at line 24 of file LocomotionEvent.h.

unsigned int LocomotionEvent::getBinSize ( ) const [virtual]

should return the minimum size needed if using binary format (i.e. not XML)

Reimplemented from EventBase.

Definition at line 20 of file LocomotionEvent.cc.

virtual unsigned int LocomotionEvent::getClassTypeID ( ) const [virtual]

All subclasses should override this and return a unique ID for their class.

All IDs corresponding to all-capital letters are reserved for future framework expansion. (Thus, user subclasses should contain at least one lower-case letter.) This code can be used when serializing to allow quick identification of the class type by the receiver.

Reimplemented from EventBase.

Definition at line 27 of file LocomotionEvent.h.

std::string LocomotionEvent::getDescription	(	bool	showTypeSpecific = `true`,
		unsigned int	verbosity = `0`
	)			const `[virtual]`

generates a description of the event with variable verbosity

Parameters:

showTypeSpecific

should be read by subclasses to add additional information

verbosity

can be one of the following values:

0 - Basic: event_name \t generator_id \t source_id \t type_id
1 - Numerics: event_name \t generator_id \t source_id \t type_id
2 - Timing: event_name \t generator_id \t source_id \t type_id \t duration \t timestamp
3 and above - Full: event_name \t generator_id \t source_id \t type_id \t duration \t timestamp \t magnitude if showTypeSpecific, additional fields will be added after the common fields listed above.