WalkCalibration Class Reference

allows interactive calibration of a walk engine More...

#include <WalkCalibration.h>

Inheritance diagram for WalkCalibration:

Detailed Description

allows interactive calibration of a walk engine

In retrospect, this might have been a little easier to do as a ControlBase/StateNode multiple inheritance instead of ControlBase/EventListener... oh well.

Definition at line 17 of file WalkCalibration.h.

List of all members.

Public Member Functions
	WalkCalibration ()
	constructor
	~WalkCalibration ()
	destructor
virtual ControlBase *	activate (MC_ID disp_id, Socket *gui)
	Called when the control is activated (or the control system is reactivating).
virtual void	refresh ()
	called when the child has deactivated and this control should refresh its display, or some other event (such as the user pressing the refresh button) has happened to cause a refresh to be needed
virtual void	deactivate ()
	called when this control is being popped from the control stack
virtual ControlBase *	doSelect ()
	when the user has trigger an "open selection" - default is to return the hilighted control*/
virtual void	processEvent (const EventBase &e)
	listens for locomotion events so we know when to stop recording
virtual ControlBase *	takeInput (const std::string &msg)
	called when the user has supplied a text string (may or may not have been prompted by doReadStdIn()! May not even be active yet - the user can direct the same input to a set of hilighted menus)
virtual void	setHilights (const std::vector< unsigned int > &hi)
	sets the hilighted slots
virtual void	hilightFirst ()
	sets the hilight to the first non-null slot
Protected Types
enum	{ ROOT, CHOOSE, READY, MOVING, READING_1, READING_2, CLEAR }
enum	dataSource { fs, fr, sr, br, bs, r, NUM_SRC }
	allows representation of the current sample type More...
Protected Member Functions
void	setupRoot ()
	sets state to root menu
void	setupChoose ()
	sets state to choose type menu
void	setupReady ()
	sets state to ready menu
void	setupMoving ()
	sets state to moving menu
void	setupReading1 ()
	sets state to enter first measurement menu
void	setupReading2 ()
	sets state to enter second measurement menu
void	setupClear ()
	sets state to clear confirmation menu
unsigned int	getType ()
	returns current sample type
unsigned int	getFirstIndex (dataSource t)
	returns a name index for the first measurement type
unsigned int	getSecondIndex (dataSource t)
	returns a name index for the second measurement type
const char *	getIndexName (unsigned int t)
	returns name for measurement type
const char *	getFirstMeasure (dataSource t)
	returns name for first measurement type
const char *	getSecondMeasure (dataSource t)
	returns name for second measurement type
float	arclen (float d, float a, float sign)
	calculates arc distance corresponding to a displacement and angle, negated if necessary to match sign
void	addSample ()
	adds data point corresponding to measurements stored in firstIn and secondIn
void	addSample (std::vector< float * > &dat, float x, float y, float a)
	adds data point to dat for a given x,y,a (and old_x, old_y, old_a)
Static Protected Member Functions
static void	loadData (const std::string &name, std::vector< float * > &data)
	does the work of loading data sets
static void	saveData (const std::string &name, const std::vector< float * > &data)
	does the work of saving data sets
static void	clearData (std::vector< float * > &data)
	clears current data
static void	report (unsigned int row, float cmd, float actual)
	reports data as they are being taken
static void	err (const std::string &str)
	pops up an error message on the controller and also displays it on the console
Protected Attributes
enum WalkCalibration:: { ... }	st
	the currently active state
enum WalkCalibration::dataSource	curType
	allows representation of the current sample type
float	old_x
	the x velocity recorded when we started moving
float	old_y
	the y velocity recorded when we started moving
float	old_a
	the a velocity recorded when we started moving
unsigned int	startTime
	the time recording started
unsigned int	stopTime
	the time recording stopped
ControlBase *	help
	control holding help info
FileInputControl *	load
	control for loading data
StringInputControl *	save
	control for saving data
ControlBase *	measure
	control for taking measurements
ControlBase *	clear
	control for clearing data
ToggleControl *	polar
	control for selecting polar measurements for fs/bs
ToggleControl *	rect
	control for selecting cartesian measurements for fs/bs
bool	isPolar
	true if polar measurements is selected
std::string	lastLoad
	name last data file selected (so we know if a new has been selected
float	firstIn
	the input given for the first measurement
float	secondIn
	the input given for the second measurement
std::vector< float * >	data [NUM_SRC]
	an array of vectors of sample points (one veotor for each of the sample types)
unsigned int	cnts [NUM_SRC]
	count of samples for each sample type (cnts[i] should equal data[i].size())
std::string	status
	string to send for ControllerGUI status message (current count of each sample type)
Static Protected Attributes
static const char *	datanames [NUM_SRC] = { "fs","fr","sr","br","bs","rr" }
	name for each sample type
Private Member Functions
	WalkCalibration (const WalkCalibration &)
	don't call
WalkCalibration &	operator= (const WalkCalibration &)
	don't call

Member Enumeration Documentation

anonymous enum [protected]

Enumerator:

ROOT	indicates the root menu is currently displayed (save/load data sets...)
CHOOSE	indicates the sample type selection is displayed
READY	waiting for user to indicate 0 point
MOVING	recording, waiting for the motion stop event
READING_1	waiting for user to supply the first measurement coordinate
READING_2	waiting for user to supply the second measurement coordinate
CLEAR	clear data confirmation menu

Definition at line 46 of file WalkCalibration.h.

enum WalkCalibration::dataSource [protected]

allows representation of the current sample type

Enumerator:

fs	forward-sideways
fr	forward-rotate
sr	sideways-rotate
br	backward-rotate
bs	backward-sideways
r	pure rotation
NUM_SRC	number of data types

Definition at line 57 of file WalkCalibration.h.

Constructor & Destructor Documentation

WalkCalibration::WalkCalibration ( )

constructor

Definition at line 19 of file WalkCalibration.cc.

WalkCalibration::~WalkCalibration ( )

destructor

Definition at line 179 of file WalkCalibration.cc.

WalkCalibration::WalkCalibration ( const WalkCalibration & ) [private]

don't call

Member Function Documentation

ControlBase * WalkCalibration::activate	(	MC_ID	disp_id,
		Socket *	gui
	)			`[virtual]`

Called when the control is activated (or the control system is reactivating).

Takes the id number of a LedMC which the control should use, maintained by Controller. Controls share the display which is passed, and may use the socket gui to communicate with the GUI controller, if it is connected.

Returns:

a ControlBase pointer. Return:

this if the control should stay active (if it's not a one-shot command)
NULL to return to parent
other address to spawn a child control

Reimplemented from ControlBase.

Definition at line 188 of file WalkCalibration.cc.

void WalkCalibration::addSample	(	std::vector< float * > &	dat,
		float	x,
		float	y,
		float	a
	)			`[protected]`

adds data point to dat for a given x,y,a (and old_x, old_y, old_a)

Definition at line 881 of file WalkCalibration.cc.

void WalkCalibration::addSample ( ) [protected]

adds data point corresponding to measurements stored in firstIn and secondIn

Definition at line 799 of file WalkCalibration.cc.

Referenced by takeInput().

float WalkCalibration::arclen	(	float	d,
		float	a,
		float	sign
	)			`[protected]`

calculates arc distance corresponding to a displacement and angle, negated if necessary to match sign

Definition at line 741 of file WalkCalibration.cc.

Referenced by addSample().

void WalkCalibration::clearData ( std::vector< float * > & data ) [static, protected]

clears current data

Definition at line 412 of file WalkCalibration.cc.

Referenced by doSelect(), and loadData().

virtual void WalkCalibration::deactivate ( ) [virtual]

called when this control is being popped from the control stack

Reimplemented from ControlBase.

Definition at line 29 of file WalkCalibration.h.

ControlBase * WalkCalibration::doSelect ( ) [virtual]

when the user has trigger an "open selection" - default is to return the hilighted control*/

The value which is returned is then activate()ed and pushed on the Controller's stack

Reimplemented from ControlBase.

Definition at line 219 of file WalkCalibration.cc.

void WalkCalibration::err ( const std::string & str ) [static, protected]

pops up an error message on the controller and also displays it on the console

Definition at line 871 of file WalkCalibration.cc.

Referenced by loadData(), saveData(), setupMoving(), and takeInput().

unsigned int WalkCalibration::getFirstIndex ( WalkCalibration::dataSource t ) [protected]

returns a name index for the first measurement type

Definition at line 651 of file WalkCalibration.cc.

Referenced by setupChoose(), setupMoving(), and setupReady().

const char * WalkCalibration::getFirstMeasure ( WalkCalibration::dataSource t ) [protected]

returns name for first measurement type

Definition at line 698 of file WalkCalibration.cc.

Referenced by processEvent(), setupReading1(), and takeInput().

const char * WalkCalibration::getIndexName ( unsigned int t ) [protected]

returns name for measurement type

Definition at line 684 of file WalkCalibration.cc.

Referenced by setupChoose(), setupMoving(), and setupReady().

unsigned int WalkCalibration::getSecondIndex ( WalkCalibration::dataSource t ) [protected]

returns a name index for the second measurement type

Definition at line 668 of file WalkCalibration.cc.

Referenced by setupChoose(), setupMoving(), and setupReady().

const char * WalkCalibration::getSecondMeasure ( WalkCalibration::dataSource t ) [protected]

returns name for second measurement type

Definition at line 722 of file WalkCalibration.cc.

Referenced by processEvent(), setupReading2(), and takeInput().

unsigned int WalkCalibration::getType ( ) [protected]

returns current sample type

void WalkCalibration::hilightFirst ( ) [virtual]

sets the hilight to the first non-null slot

Reimplemented from ControlBase.

Definition at line 352 of file WalkCalibration.cc.

Referenced by setupClear().

void WalkCalibration::loadData	(	const std::string &	name,
		std::vector< float * > &	data
	)			`[static, protected]`

does the work of loading data sets

Definition at line 366 of file WalkCalibration.cc.

Referenced by refresh().

WalkCalibration& WalkCalibration::operator= ( const WalkCalibration & ) [private]

don't call

void WalkCalibration::processEvent ( const EventBase & e ) [virtual]

listens for locomotion events so we know when to stop recording

Implements EventListener.

Definition at line 287 of file WalkCalibration.cc.

void WalkCalibration::refresh ( ) [virtual]

called when the child has deactivated and this control should refresh its display, or some other event (such as the user pressing the refresh button) has happened to cause a refresh to be needed

Reimplemented from ControlBase.

Definition at line 194 of file WalkCalibration.cc.

Referenced by doSelect(), processEvent(), and takeInput().

void WalkCalibration::report	(	unsigned int	row,
		float	cmd,
		float	actual
	)			`[static, protected]`

reports data as they are being taken

Definition at line 860 of file WalkCalibration.cc.

Referenced by addSample().

void WalkCalibration::saveData	(	const std::string &	name,
		const std::vector< float * > &	data
	)			`[static, protected]`

does the work of saving data sets

Definition at line 390 of file WalkCalibration.cc.

Referenced by refresh().

void WalkCalibration::setHilights ( const std::vector< unsigned int > & hi ) [virtual]

sets the hilighted slots

Reimplemented from ControlBase.

Definition at line 339 of file WalkCalibration.cc.

Referenced by hilightFirst().

void WalkCalibration::setupChoose ( ) [protected]

sets state to choose type menu

Definition at line 430 of file WalkCalibration.cc.

Referenced by doSelect().

void WalkCalibration::setupClear ( ) [protected]

sets state to clear confirmation menu

Definition at line 639 of file WalkCalibration.cc.

Referenced by doSelect().

void WalkCalibration::setupMoving ( ) [protected]

sets state to moving menu

Definition at line 544 of file WalkCalibration.cc.

Referenced by doSelect().

void WalkCalibration::setupReading1 ( ) [protected]

sets state to enter first measurement menu

Definition at line 604 of file WalkCalibration.cc.

Referenced by processEvent().

void WalkCalibration::setupReading2 ( ) [protected]

sets state to enter second measurement menu

Definition at line 621 of file WalkCalibration.cc.

Referenced by setupReading1(), and takeInput().

void WalkCalibration::setupReady ( ) [protected]

sets state to ready menu

Definition at line 454 of file WalkCalibration.cc.

Referenced by doSelect(), and takeInput().

void WalkCalibration::setupRoot ( ) [protected]

sets state to root menu

Definition at line 418 of file WalkCalibration.cc.

Referenced by doSelect(), and WalkCalibration().

ControlBase * WalkCalibration::takeInput ( const std::string & msg ) [virtual]

called when the user has supplied a text string (may or may not have been prompted by doReadStdIn()! May not even be active yet - the user can direct the same input to a set of hilighted menus)

The value which is returned is then activate()ed and pushed on the Controller's stack

Reimplemented from ControlBase.

Definition at line 302 of file WalkCalibration.cc.