WalkMC class Reference

Moves the feet through a looping path in order to walk - default parameters use a walk low to the ground so you don't walk over the ball.

  =========================================================================
    CMPack'02 Source Code Release for OPEN-R SDK v1.0
    Copyright (C) 2002 Multirobot Lab [Project Head: Manuela Veloso]
    School of Computer Science, Carnegie Mellon University
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    This software is distributed under the GNU General Public License,
    version 2.  If you do not have a copy of this licence, visit
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    including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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    Additionally licensed to Sony Corporation under the following terms:

    This software is provided by the copyright holders AS IS and any
    express or implied warranties, including, but not limited to, the
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    purpose are disclaimed.  In no event shall authors be liable for
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  =========================================================================

Definition at line 51 of file WalkMC.h.


Public Types
typedef SplinePath< vector3d, double >	splinepath
	for convenience
typedef HermiteSplineSegment< vector3d, double >	spline
	for convenience
Public Member Functions
	WalkMC (const char *pfile=NULL)
	constructor
virtual void	DoStart ()
	sends an activate LocomotionEvent
virtual void	DoStop ()
	sends a deactivate LocomotionEvent
virtual int	updateOutputs ()
	calculates current positions of the paws
virtual int	isDirty ()
	Returns true if we are walking. This modified isDirty allows the AIBO to slow down to a stop rather than stopping immediately.
virtual int	isAlive ()
	always true - never autoprunes
void	load (const char *pfile)
	loads parameters from a file (
void	save (const char *pfile) const
	saves parameters to a file (
void	setTargetVelocity (double dx, double dy, double da)
	set the direction to walk - can specify x (forward), y (left), and angular (counterclockwise) velocities
const vector3d &	getTargetVelocity ()
	returns current velocity we're trying to go
const vector3d &	getCurVelocity () const
	returns the velocity we're actually moving (subject to clipping at max_accel_xya), doesn't reflect value of getPaused()...
unsigned int	getTravelTime ()
	returns the time we've been traveling along the current vector
void	setPaused (bool p)
	if set to true, will stop moving
bool	getPaused () const
	if is true, we aren't moving
void	setHeight (double h)
	sets WalkParam::body_height of wp
double	getHeight ()
	gets WalkParam::body_height of wp
void	setAngle (double a)
	sets WalkParam::body_angle of wp
double	getAngle ()
	gets WalkParam::body_angle of wp
void	setHop (double h)
	sets WalkParam::hop of wp
double	getHop ()
	gets WalkParam::hop of wp
void	setSway (double h)
	sets WalkParam::sway of wp
double	getSway ()
	gets WalkParam::sway of wp
void	setPeriod (long p)
	sets WalkParam::period of wp
long	getPeriod ()
	gets WalkParam::period of wp
void	setSlowMo (float p)
	sets slowmo
float *	getSlowMo ()
	gets slowmo
WalkParam &	getWP ()
void	resetLegPos ()
	takes current leg positions from WorldState and tries to match the point in the cycle most like it
Static Public Attributes
const float	MAX_DX = 180
	==180 mm/sec
const float	MAX_DY = 140
	==140 mm/sec
const float	MAX_DA = 1.8
	==1.8 rad/sec
const vector3d	max_accel_xya
	maximum acceleration of x, y, and a velocity
Protected Member Functions
void	init (const char *pfile)
	does some setup stuff, calls load(pfile)
Protected Attributes
OutputCmd	cmds [NumOutputs][NumFrames]
	holds current joint commands
bool	isPaused
	true if we are paused
WalkParam	wp
	current walking parameters (note that it's not static - different WalkMC's can have different setting, handy...
LegWalkState	legw [NumLegs]
	current state of each leg
vector3d	legpos [NumLegs]
	current position of each leg
splinepath	body_loc
	the path the body goes through while walking (?)
splinepath	body_angle
	the path the body goes through while walking (?)
vector3d	pos_delta
	how much we've moved
double	angle_delta
	how much we've turned
unsigned int	travelTime
	the time since the last call to setTargetVelocity - handy to check the time we've been traveling current vector
int	time
	time of last call to updateJointCmds() (scaled by slowmo)
int	TimeStep
	time to pretend passes between each call to updateJointCmds() - usually RobotInfo::FrameTime
float	slowmo
	scales time values to make the walk move in slow motion for analysis (or fast forward)
int	CycleOffset
int	TimeOffset
bool	NewCycleOffset
vector3d	vel_xya
	the current velocity we're moving
vector3d	target_vel_xya
	the velocity that was requested

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

const vector3d& WalkMC::getCurVelocity ( ) const [inline]

returns the velocity we're actually moving (subject to clipping at max_accel_xya), doesn't reflect value of getPaused()...

Definition at line 108 of file WalkMC.h.

References vector3d, and vel_xya.

bool WalkMC::getPaused ( ) const [inline]

if is true, we aren't moving

Definition at line 113 of file WalkMC.h.

References isPaused.

float* WalkMC::getSlowMo ( ) [inline]

gets slowmo

Definition at line 125 of file WalkMC.h.

References slowmo.

const vector3d& WalkMC::getTargetVelocity ( ) [inline]

returns current velocity we're trying to go

Definition at line 106 of file WalkMC.h.

References target_vel_xya, and vector3d.

unsigned int WalkMC::getTravelTime ( ) [inline]

returns the time we've been traveling along the current vector

Definition at line 110 of file WalkMC.h.

References get_time(), and travelTime.

WalkParam& WalkMC::getWP ( ) [inline]

Definition at line 127 of file WalkMC.h.

References wp.

virtual int WalkMC::isAlive ( ) [inline, virtual]

always true - never autoprunes

Implements MotionCommand.

Definition at line 97 of file WalkMC.h.

void WalkMC::setPaused ( bool p ) [inline]

if set to true, will stop moving

Definition at line 112 of file WalkMC.h.

References isPaused.

void WalkMC::setSlowMo ( float p ) [inline]

sets slowmo

Definition at line 124 of file WalkMC.h.

References slowmo.

Member Data Documentation

OutputCmd WalkMC::cmds[NumOutputs][NumFrames] [protected]

holds current joint commands

Definition at line 141 of file WalkMC.h.

int WalkMC::CycleOffset [protected]

The CycleOffset variable is used to ensure that each time the AIBO starts walking, it starts at the same point in the walk cycle as where it stopped. This measure is intended to decrease the amount of jerking (and hence deviation) that occurs when the AIBO starts walking forward and then suddenly stops.

Definition at line 169 of file WalkMC.h.

bool WalkMC::NewCycleOffset [protected]

Every time we stop, we know we'll have a new CycleOffset, and we'll need to compute a new TimeOffset. This boolean says as much.

Definition at line 180 of file WalkMC.h.

float WalkMC::slowmo [protected]

scales time values to make the walk move in slow motion for analysis (or fast forward)

Definition at line 161 of file WalkMC.h.

int WalkMC::time [protected]

time of last call to updateJointCmds() (scaled by slowmo)

Definition at line 159 of file WalkMC.h.

int WalkMC::TimeOffset [protected]

Each CycleOffset corresponds to a different TimeOffset once the robot starts walking again. Consider this example: the robot stops 2/3 of the way through the cycle, then starts again 1/3 of the way through the cycle on the absolute clock. The time offset to advance the clock to the right part of the cycle is 1/3 of a cycle, so we set TimeOffset to 1/3 cycle and add that to every clock value used in the walk code.

Definition at line 177 of file WalkMC.h.

int WalkMC::TimeStep [protected]

time to pretend passes between each call to updateJointCmds() - usually RobotInfo::FrameTime

Definition at line 160 of file WalkMC.h.

unsigned int WalkMC::travelTime [protected]

the time since the last call to setTargetVelocity - handy to check the time we've been traveling current vector

Definition at line 158 of file WalkMC.h.

WalkParam WalkMC::wp [protected]

current walking parameters (note that it's not static - different WalkMC's can have different setting, handy...

Definition at line 149 of file WalkMC.h.

WalkMC Class Reference

Detailed Description

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation