TailWagMC Class Reference
A simple motion command for wagging the tail - you can specify period, magnitude, and tilt. More...
#include <TailWagMC.h>
Detailed Description
A simple motion command for wagging the tail - you can specify period, magnitude, and tilt.
Definition at line 14 of file TailWagMC.h.
Public Member Functions | |
| TailWagMC () | |
| constructor | |
| TailWagMC (unsigned int cyc_period, float cyc_magnitude) | |
| constructor | |
| virtual | ~TailWagMC () |
| destructor | |
| 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 void | setDirty () |
| virtual int | isAlive () |
| used to prune "dead" motions from the MotionManager | |
| void | setPeriod (unsigned int p) |
| sets the period of time between swings, in milliseconds | |
| unsigned int | getPeriod () const |
| gets the period of time between swings, in milliseconds | |
| void | setMagnitude (float mag) |
| sets the magnitude of swings, in radians | |
| double | getMagnitude () const |
| gets the magnitude of swings, in radians | |
| void | setTilt (float r) |
| sets the tilt of the tail while wagging, in radians | |
| void | unsetTilt () |
| makes the tilt control unspecified, will let something else control tilt | |
| double | getTilt () const |
| gets the tilt of the tail while wagging, in radians | |
| double | getPan () const |
| returns the most recent pan value of the tail while wagging, in radians | |
| bool | getActive () |
| returns true if this is currently trying to wag the tail | |
| void | setActive (bool a) |
| turns the tail wagger on or off | |
Protected Attributes | |
| unsigned int | period |
| period of time between swings, in milliseconds | |
| float | magnitude |
| magnitude of swings, in radians | |
| unsigned int | offset |
| offset in the period, only used if period is changed to avoid twitching | |
| bool | active |
| true if this is currently trying to wag the tail | |
| float | last_pan |
| last tail position | |
| int | last_sign |
| sign of tail movement direction | |
| OutputCmd | tilt |
| holds current setting for the tilt joint | |
| OutputCmd | pans [NumFrames] |
| holds commands for planning ahead the wagging | |
Constructor & Destructor Documentation
| TailWagMC::TailWagMC | ( | ) |
constructor
Definition at line 18 of file TailWagMC.h.
| TailWagMC::TailWagMC | ( | unsigned int | cyc_period, | |
| float | cyc_magnitude | |||
| ) |
constructor
Definition at line 23 of file TailWagMC.h.
| virtual TailWagMC::~TailWagMC | ( | ) | [virtual] |
destructor
Definition at line 28 of file TailWagMC.h.
Member Function Documentation
| bool TailWagMC::getActive | ( | ) |
returns true if this is currently trying to wag the tail
Definition at line 96 of file TailWagMC.h.
| double TailWagMC::getMagnitude | ( | ) | const |
gets the magnitude of swings, in radians
Definition at line 90 of file TailWagMC.h.
| double TailWagMC::getPan | ( | ) | const |
returns the most recent pan value of the tail while wagging, in radians
Definition at line 94 of file TailWagMC.h.
| unsigned int TailWagMC::getPeriod | ( | ) | const |
gets the period of time between swings, in milliseconds
Definition at line 88 of file TailWagMC.h.
| double TailWagMC::getTilt | ( | ) | const |
gets the tilt of the tail while wagging, in radians
Definition at line 93 of file TailWagMC.h.
| virtual int TailWagMC::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" ;)
- Returns:
- zero if the motion is still processing, non-zero otherwise
Implements MotionCommand.
Definition at line 78 of file TailWagMC.h.
| virtual int TailWagMC::isDirty | ( | ) | [virtual] |
not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful
- Returns:
- zero if none of the commands have changed since last getJointCmd(), else non-zero
Implements MotionCommand.
Definition at line 75 of file TailWagMC.h.
| void TailWagMC::setActive | ( | bool | a | ) |
turns the tail wagger on or off
Definition at line 99 of file TailWagMC.h.
| virtual void TailWagMC::setDirty | ( | ) | [virtual] |
Definition at line 76 of file TailWagMC.h.
| void TailWagMC::setMagnitude | ( | float | mag | ) |
sets the magnitude of swings, in radians
Definition at line 89 of file TailWagMC.h.
| void TailWagMC::setPeriod | ( | unsigned int | p | ) |
sets the period of time between swings, in milliseconds
a bit complicated in order to avoid jerking around when the period changes
Definition at line 82 of file TailWagMC.h.
| void TailWagMC::setTilt | ( | float | r | ) |
sets the tilt of the tail while wagging, in radians
Definition at line 91 of file TailWagMC.h.
| void TailWagMC::unsetTilt | ( | ) |
makes the tilt control unspecified, will let something else control tilt
Definition at line 92 of file TailWagMC.h.
| virtual int TailWagMC::updateOutputs | ( | ) | [virtual] |
is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager
- Returns:
- zero if no changes were made, non-zero otherwise
- See also:
- RobotInfo::NumFrames
- RobotInfo::FrameTime
Implements MotionCommand.
Definition at line 30 of file TailWagMC.h.
Member Data Documentation
bool TailWagMC::active [protected] |
true if this is currently trying to wag the tail
Definition at line 109 of file TailWagMC.h.
Referenced by getActive(), isDirty(), setActive(), setDirty(), and updateOutputs().
float TailWagMC::last_pan [protected] |
last tail position
Definition at line 110 of file TailWagMC.h.
Referenced by getPan(), and updateOutputs().
int TailWagMC::last_sign [protected] |
sign of tail movement direction
Definition at line 111 of file TailWagMC.h.
Referenced by setActive(), and updateOutputs().
float TailWagMC::magnitude [protected] |
magnitude of swings, in radians
Definition at line 107 of file TailWagMC.h.
Referenced by getMagnitude(), setMagnitude(), and updateOutputs().
unsigned int TailWagMC::offset [protected] |
offset in the period, only used if period is changed to avoid twitching
Definition at line 108 of file TailWagMC.h.
Referenced by setPeriod(), and updateOutputs().
OutputCmd TailWagMC::pans[NumFrames] [protected] |
holds commands for planning ahead the wagging
Definition at line 113 of file TailWagMC.h.
Referenced by updateOutputs().
unsigned int TailWagMC::period [protected] |
period of time between swings, in milliseconds
Definition at line 106 of file TailWagMC.h.
Referenced by getPeriod(), setPeriod(), and updateOutputs().
OutputCmd TailWagMC::tilt [protected] |
holds current setting for the tilt joint
Definition at line 112 of file TailWagMC.h.
Referenced by getTilt(), setTilt(), unsetTilt(), and updateOutputs().
The documentation for this class was generated from the following file:
