WalkRequest Class Reference

A request to walk at a specified velocity or for a specific distance, to be used in a SignalTrans. More...

#include <WalkNode.h>

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Detailed Description

A request to walk at a specified velocity or for a specific distance, to be used in a SignalTrans.

Recommended usage is via the velocity() and displacement() generators

Definition at line 17 of file WalkNode.h.

List of all members.

Public Member Functions
	WalkRequest ()
	Constructor.
	WalkRequest (const std::string &paramFile)
	Constructor.
	WalkRequest (float xvel, float yvel, float avel, const std::string &paramFile="")
	Constructor: velocities in mm/sec and radians/sec.
	WalkRequest (float x_, float y_, float a_, float time_, bool isVelocity, const std::string &paramFile="")
	Constructor.
bool	operator== (const WalkRequest &other) const
Static Public Member Functions
static WalkRequest	velocity (float x, float y, float a, float time=-1, const std::string &paramFile="")
	Generator to call the constructor with appropriate arguments, a little more concise/readable than using the constructor directly.
static WalkRequest	displacement (float x, float y, float a, float time=0, const std::string &paramFile="")
	Generator to call the constructor with appropriate arguments, a little more concise/readable than using the constructor directly.
Public Attributes
float	x
float	y
float	a
float	time
bool	velocityMode
bool	storedVelocities
std::string	filename

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Constructor & Destructor Documentation

WalkRequest::WalkRequest

(

)

Constructor.

Definition at line 20 of file WalkNode.h.

Referenced by displacement(), and velocity().

WalkRequest::WalkRequest

(

const std::string &

paramFile

)

Constructor.

Definition at line 23 of file WalkNode.h.

WalkRequest::WalkRequest	(	float	xvel,
		float	yvel,
		float	avel,
		const std::string &	paramFile = ""
	)

Constructor: velocities in mm/sec and radians/sec.

Definition at line 26 of file WalkNode.h.

WalkRequest::WalkRequest	(	float	x_,
		float	y_,
		float	a_,
		float	time_,
		bool	isVelocity,
		const std::string &	paramFile = ""
	)

Constructor.

Parameters:

	x_	if isVelocity, the speed (mm/s) to move forward, else the distance (mm)
	y_	if isVelocity, the speed (mm/s) to move to the left, else the distance (mm)
	a_	if isVelocity, the speed (radians/s) to rotate to the left, else the distance (radians)
	time_	the duration of the walk (seconds), if isVelocity is false the velocity will still be subject to the walk's calculated limits, so just pass 0 for max speed
	isVelocity	controls interpretation of x, y, and a
	paramFile	loads a parameter file to control walk gait

Definition at line 36 of file WalkNode.h.

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Member Function Documentation

static WalkRequest WalkRequest::displacement	(	float	x,
		float	y,
		float	a,
		float	time = 0,
		const std::string &	paramFile = ""
	)			[static]

Generator to call the constructor with appropriate arguments, a little more concise/readable than using the constructor directly.

Parameters:

	x	the distance (mm) to move forward
	y	the distance (mm) to move to the left
	a	the distance (radians) to rotate to the left
	time	the duration of the walk (seconds), the velocity will still be subject to the walk's calculated limits, so just pass 0 for max speed
	paramFile	loads a parameter file to control walk gait

Definition at line 53 of file WalkNode.h.

Referenced by KoduInterpreter::ReceiveActionRunner::ReceiveActionTurnAndGet::Rotate::doStart(), KoduInterpreter::GiveActionRunner::PositionBody::Walk::doStart(), and KoduInterpreter::GiveActionRunner::PositionBody::Rotate::doStart().

bool WalkRequest::operator==

(

const WalkRequest &

other

)

const

static WalkRequest WalkRequest::velocity	(	float	x,
		float	y,
		float	a,
		float	time = -1,
		const std::string &	paramFile = ""
	)			[static]

Generator to call the constructor with appropriate arguments, a little more concise/readable than using the constructor directly.

Parameters:

	x	the speed (mm/s) to move forward
	y	the speed (mm/s) to move to the left
	a	the speed (radians/s) to rotate to the left
	time	the duration of the walk (seconds)
	paramFile	loads a parameter file to control walk gait

Definition at line 45 of file WalkNode.h.

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Member Data Documentation

float WalkRequest::a

Definition at line 55 of file WalkNode.h.

std::string WalkRequest::filename

Definition at line 57 of file WalkNode.h.

bool WalkRequest::storedVelocities

Definition at line 56 of file WalkNode.h.

float WalkRequest::time

Definition at line 55 of file WalkNode.h.

Referenced by displacement(), and velocity().

bool WalkRequest::velocityMode

Definition at line 56 of file WalkNode.h.

float WalkRequest::x

Definition at line 55 of file WalkNode.h.

float WalkRequest::y

Definition at line 55 of file WalkNode.h.

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The documentation for this class was generated from the following file:

• WalkNode.h