Reference

WorldModel2Behavior::WalkNode Struct Reference

Inheritance diagram for WorldModel2Behavior::WalkNode:

Inheritance graph

[legend]List of all members.

Detailed Description

This one does a random walk.

Definition at line 38 of file WorldModel2Behavior.h.

Public Types

enum { TURN, AHEAD }

Public Member Functions

WalkNode (const char *title, StateNode *poppa, MotionManager::MC_ID su)

Constructor.

virtual ~WalkNode ()

Destructor.

virtual void processEvent (const EventBase &)

IR obstacle avoidance.

virtual void DoStart ()

Behavior startup.

virtual void DoStop ()

Behavior stop.

Public Attributes

MotionManager::MC_ID walker_id

A motion command ID for WalkMC.

MotionManager::MC_ID head_id

A motion command ID for the head.

MotionManager::MC_ID stand_id

A motion command ID for standing up.

enum WorldModel2Behavior::WalkNode:: { ... } walkstate

are we walking forward or turning?

Static Public Attributes

const double THR_TURN = 300

obstacle threshold for turning away

const double THR_AHEAD = 600

obstacle threshild for stopping turn

Member Enumeration Documentation

anonymous enum

Enumeration values:

TURN

AHEAD

Definition at line 51 of file WorldModel2Behavior.h.

Constructor & Destructor Documentation

WorldModel2Behavior::WalkNode::WalkNode ( const char * title,

StateNode * poppa,

MotionManager::MC_ID su

)

Constructor.

Definition at line 128 of file WorldModel2Behavior.cc.
References MotionManager::addMotion(), head_id, MotionManager::MC_ID, motman, and walker_id.

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WorldModel2Behavior::WalkNode::~WalkNode ( ) [virtual]

Destructor.

Definition at line 141 of file WorldModel2Behavior.cc.
References head_id, motman, MotionManager::removeMotion(), and walker_id.

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Member Function Documentation

void WorldModel2Behavior::WalkNode::DoStart ( ) [virtual]

Behavior startup.

Reimplemented from StateNode.
Definition at line 176 of file WorldModel2Behavior.cc.
References EventRouter::addListener(), AHEAD, MotionManager::checkinMotion(), MotionManager::checkoutMotion(), StateNode::DoStart(), erouter, get_time(), head_id, motman, EventBase::sensorEGID, HeadPointerMC::setJoints(), WalkMC::setTargetVelocity(), walker_id, and walkstate.

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void WorldModel2Behavior::WalkNode::DoStop ( ) [virtual]

Behavior stop.

Reimplemented from StateNode.
Definition at line 196 of file WorldModel2Behavior.cc.
References MotionManager::checkinMotion(), MotionManager::checkoutMotion(), StateNode::DoStop(), erouter, get_time(), motman, EventRouter::removeListener(), EventBase::sensorEGID, WalkMC::setTargetVelocity(), and walker_id.

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void WorldModel2Behavior::WalkNode::processEvent ( const EventBase & ) [virtual]

IR obstacle avoidance.

Reimplemented from BehaviorBase.
Definition at line 150 of file WorldModel2Behavior.cc.
References AHEAD, MotionManager::checkinMotion(), MotionManager::checkoutMotion(), ERS210Info::IRDistOffset, motman, WorldState::sensors, WalkMC::setTargetVelocity(), state, THR_AHEAD, THR_TURN, TURN, walker_id, and walkstate.

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Member Data Documentation

MotionManager::MC_ID WorldModel2Behavior::WalkNode::head_id

A motion command ID for the head.

Definition at line 49 of file WorldModel2Behavior.h.

MotionManager::MC_ID WorldModel2Behavior::WalkNode::stand_id

A motion command ID for standing up.

Definition at line 50 of file WorldModel2Behavior.h.

const double WorldModel2Behavior::WalkNode::THR_AHEAD = 600 [static]

obstacle threshild for stopping turn

Definition at line 54 of file WorldModel2Behavior.h.

const double WorldModel2Behavior::WalkNode::THR_TURN = 300 [static]

obstacle threshold for turning away

Definition at line 53 of file WorldModel2Behavior.h.

MotionManager::MC_ID WorldModel2Behavior::WalkNode::walker_id

A motion command ID for WalkMC.

Definition at line 48 of file WorldModel2Behavior.h.

enum { ... } WorldModel2Behavior::WalkNode::walkstate

are we walking forward or turning?

The documentation for this struct was generated from the following files:

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