PostureNode Class Reference
A simple StateNode that executes a PostureMC motion command. More...
#include <PostureNode.h>
Detailed Description
A simple StateNode that executes a PostureMC motion command.
Caches the posture file in a private PostureEngine because the motion command might be shared with other functions that are using it for other purposes
Definition at line 21 of file PostureNode.h.
Public Member Functions | |
| PostureNode (const std::string &nodename=defPostureNodeName, const std::string &filename=std::string()) | |
| Constructor: takes optional instance name and filename. | |
| virtual void | preStart () |
| Adds the motion command to the motion manager, but stops it from running until the user has a chance to program it. | |
| virtual void | loadFile (const std::string &filename) |
| loads the specified file into posture, note this doesn't affect the current PostureMC, just the cached one which will be loaded into it on next activation. See getPosture(), getMC_ID() | |
| virtual PostureEngine & | getPosture () |
| accessor for posture, note this doesn't affect the current PostureMC, just the cached one which will be loaded into it on next activation. See getMC_ID() | |
| virtual const PostureEngine & | getPosture () const |
| accessor for posture, note this doesn't return the current PostureMC, just the cached one which will be loaded into it on next activation. See getMC_ID() | |
Protected Attributes | |
| PostureEngine | posture |
| The internal cache of joint positions, copied to the motion command when activated. | |
Constructor & Destructor Documentation
| PostureNode::PostureNode | ( | const std::string & | nodename = defPostureNodeName, |
|
| const std::string & | filename = std::string() | |||
| ) |
Constructor: takes optional instance name and filename.
Caches the posture file in a private PostureEngine because the motion command might be shared with other functions that are using it for other purposes
Definition at line 3 of file PostureNode.cc.
Member Function Documentation
| virtual const PostureEngine& PostureNode::getPosture | ( | ) | const [virtual] |
accessor for posture, note this doesn't return the current PostureMC, just the cached one which will be loaded into it on next activation. See getMC_ID()
Definition at line 38 of file PostureNode.h.
| virtual PostureEngine& PostureNode::getPosture | ( | ) | [virtual] |
accessor for posture, note this doesn't affect the current PostureMC, just the cached one which will be loaded into it on next activation. See getMC_ID()
Definition at line 36 of file PostureNode.h.
| void PostureNode::loadFile | ( | const std::string & | filename | ) | [virtual] |
loads the specified file into posture, note this doesn't affect the current PostureMC, just the cached one which will be loaded into it on next activation. See getPosture(), getMC_ID()
Definition at line 14 of file PostureNode.cc.
| void PostureNode::preStart | ( | ) | [virtual] |
Adds the motion command to the motion manager, but stops it from running until the user has a chance to program it.
Reimplemented from MCNode< PostureMC, defPostureNodeName, defPostureNodeDesc, true >.
Definition at line 9 of file PostureNode.cc.
Member Data Documentation
PostureEngine PostureNode::posture [protected] |
The internal cache of joint positions, copied to the motion command when activated.
This allows the motion command to be shared by other nodes/behaviors, which might modify the posture on an ongoing basis.
Definition at line 44 of file PostureNode.h.
Referenced by getPosture(), loadFile(), PostureNode(), and preStart().
The documentation for this class was generated from the following files:
