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DynamicMotionSequence Class Reference

#include <DynamicMotionSequence.h>

Inheritance diagram for DynamicMotionSequence:

Inheritance graph
[legend]
List of all members.

Detailed Description

Uses STL's vector for dynamic memory allocation - don't use this as a motion command, pointers in shared memory regions can be invalid in other processes.

See MotionSequenceMC for documentation on its members

Definition at line 10 of file DynamicMotionSequence.h.

Public Member Functions

 DynamicMotionSequence ()
 constructor

 DynamicMotionSequence (const char *filename)
 constructor, loads from a file and then resets the playtime to beginning and begins to play

virtual ~DynamicMotionSequence ()
 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 void clear ()
 empties out the sequence (constant time operation - faster than a series of pops)

virtual unsigned int getMaxFrames () const
 returns the maximum number of key frames (Move's) which can be stored, determined by the instantiating MotionSequenceMC's template parameter

virtual unsigned int getUsedFrames () const
 returns the number of used key frames (Move's) which have been stored by the instantiation MotionSequence subclass


Protected Types

typedef std::vector< Move > list_t
 shorthand for the ListMemBuf that stores all of the movement frames


Protected Member Functions

virtual Move & getKeyFrame (Move_idx_t x)
 returns the Move struct corresponding to x in the subclass's actual data structure

virtual const Move & getKeyFrame (Move_idx_t x) const
 returns the Move struct corresponding to x in the subclass's actual data structure

virtual Move_idx_t newKeyFrame ()
 causes subclass to create a new Move structure, returns its index

virtual void eraseKeyFrame (Move_idx_t x)
 causes subclass to mark the corresponding Move structure as free

void setRange (unsigned int t, Move_idx_t &prev, Move_idx_t &next) const
 Sets prev and next to the appropriate values for the given time and output index.


Protected Attributes

list_t moves
 stores all of the movement keyframes

std::vector< Move_idx_terased
 recycles erased keyframes, can't just shift elements in moves, it would throw of index numbers in Move structures


Member Typedef Documentation

typedef std::vector<Move> DynamicMotionSequence::list_t [protected]
 

shorthand for the ListMemBuf that stores all of the movement frames

Definition at line 76 of file DynamicMotionSequence.h.


Constructor & Destructor Documentation

DynamicMotionSequence::DynamicMotionSequence  )  [inline]
 

constructor

Definition at line 13 of file DynamicMotionSequence.h.

DynamicMotionSequence::DynamicMotionSequence const char *  filename  )  [inline, explicit]
 

constructor, loads from a file and then resets the playtime to beginning and begins to play

Definition at line 15 of file DynamicMotionSequence.h.

virtual DynamicMotionSequence::~DynamicMotionSequence  )  [inline, virtual]
 

destructor

Definition at line 17 of file DynamicMotionSequence.h.


Member Function Documentation

virtual void DynamicMotionSequence::clear  )  [inline, virtual]
 

empties out the sequence (constant time operation - faster than a series of pops)

Implements MotionSequence.

Definition at line 58 of file DynamicMotionSequence.h.

Referenced by DynamicMotionSequence().

virtual void DynamicMotionSequence::eraseKeyFrame Move_idx_t  x  )  [inline, protected, virtual]
 

causes subclass to mark the corresponding Move structure as free

Implements MotionSequence.

Definition at line 94 of file DynamicMotionSequence.h.

virtual const Move& DynamicMotionSequence::getKeyFrame Move_idx_t  x  )  const [inline, protected, virtual]
 

returns the Move struct corresponding to x in the subclass's actual data structure

Implements MotionSequence.

Definition at line 83 of file DynamicMotionSequence.h.

virtual Move& DynamicMotionSequence::getKeyFrame Move_idx_t  x  )  [inline, protected, virtual]
 

returns the Move struct corresponding to x in the subclass's actual data structure

Implements MotionSequence.

Definition at line 82 of file DynamicMotionSequence.h.

virtual unsigned int DynamicMotionSequence::getMaxFrames  )  const [inline, virtual]
 

returns the maximum number of key frames (Move's) which can be stored, determined by the instantiating MotionSequenceMC's template parameter

Implements MotionSequence.

Definition at line 71 of file DynamicMotionSequence.h.

virtual unsigned int DynamicMotionSequence::getUsedFrames  )  const [inline, virtual]
 

returns the number of used key frames (Move's) which have been stored by the instantiation MotionSequence subclass

Implements MotionSequence.

Definition at line 72 of file DynamicMotionSequence.h.

virtual Move_idx_t DynamicMotionSequence::newKeyFrame  )  [inline, protected, virtual]
 

causes subclass to create a new Move structure, returns its index

Implements MotionSequence.

Definition at line 84 of file DynamicMotionSequence.h.

void DynamicMotionSequence::setRange unsigned int  t,
Move_idx_t prev,
Move_idx_t next
const [inline, protected, virtual]
 

Sets prev and next to the appropriate values for the given time and output index.

Implements MotionSequence.

Definition at line 95 of file DynamicMotionSequence.h.

Referenced by updateOutputs().

virtual int DynamicMotionSequence::updateOutputs  )  [inline, 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

Reimplemented from MotionSequence.

Definition at line 33 of file DynamicMotionSequence.h.


Member Data Documentation

std::vector<Move_idx_t> DynamicMotionSequence::erased [protected]
 

recycles erased keyframes, can't just shift elements in moves, it would throw of index numbers in Move structures

Definition at line 80 of file DynamicMotionSequence.h.

Referenced by clear(), DynamicMotionSequence(), eraseKeyFrame(), getUsedFrames(), and newKeyFrame().

list_t DynamicMotionSequence::moves [protected]
 

stores all of the movement keyframes

Definition at line 79 of file DynamicMotionSequence.h.

Referenced by clear(), DynamicMotionSequence(), getKeyFrame(), getUsedFrames(), newKeyFrame(), setRange(), and updateOutputs().


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

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