WalkControllerBehavior Class Reference#include <WalkControllerBehavior.h>
Inheritance diagram for WalkControllerBehavior:
[legend]List of all members.
Detailed Description
Listens to control commands coming in from the command port for remotely controlling the walk.
Definition at line 17 of file WalkControllerBehavior.h.
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Public Member Functions |
| WalkControllerBehavior () |
| constructor
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virtual | ~WalkControllerBehavior () |
| destructor
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virtual void | DoStart () |
| By default, merely adds to the reference counter (through AddReference()); Note you should still call this from your overriding methods.
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virtual void | DoStop () |
| By default, subtracts from the reference counter (RemoveReference()), and thus may deletex if zero; Don't forget to still call this when you override this; Warning: call this at the end of your DoStop(), not beginning (it might delete this ).
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virtual WalkMC * | getWalkMC () |
| returns the WalkMC which [will be|is being] used
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virtual MotionManager::MC_ID | getWalkID () |
| returns the current Walk's MotionCommand ID
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virtual void | processEvent (const EventBase &) |
| The only event we could possibly receive is the stop-if-no-heartbeat timer.
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virtual std::string | getName () const |
| Identifies the behavior in menus and such.
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Static Public Member Functions |
int | mechacmd_callback (char *buf, int bytes) |
| called by wireless when there's new data
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std::string | getClassDescription () |
| Gives a short description of what this class of behaviors does... you should override this (but don't have to).
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Static Public Attributes |
WalkControllerBehavior * | theOne = NULL |
Protected Attributes |
SharedObject< WalkMC > | shared_walker |
| the WalkMC to use
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Private Member Functions |
void | runCommand (unsigned char *command) |
| Executes a command. Called by mechacmd_callback.
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| WalkControllerBehavior (const WalkControllerBehavior &) |
| don't call
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WalkControllerBehavior | operator= (const WalkControllerBehavior &) |
| don't call
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Private Attributes |
float | dx |
| Motion parameter.
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float | dy |
| Motion parameter.
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float | da |
| Motion parameter.
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WalkControllerBehavior * | theLastOne |
Socket * | cmdsock |
| The input command stream socket.
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Static Private Attributes |
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const char | CMD_fwd = 'f' |
| handy symbol for matching incoming communication
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const char | CMD_roto = 'r' |
| handy symbol for matching incoming communication
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const char | CMD_side = 's' |
| handy symbol for matching incoming communication
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const char | CMD_opt0 = '0' |
| handy symbol for matching incoming communication
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const char | CMD_opt1 = '1' |
| handy symbol for matching incoming communication
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const char | CMD_opt2 = '2' |
| handy symbol for matching incoming communication
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const char | CMD_opt3 = '3' |
| handy symbol for matching incoming communication
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const char | CMD_opt4 = '4' |
| handy symbol for matching incoming communication
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const char | CMD_opt5 = '5' |
| handy symbol for matching incoming communication
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const char | CMD_opt6 = '6' |
| handy symbol for matching incoming communication
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const char | CMD_opt7 = '7' |
| handy symbol for matching incoming communication
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const char | CMD_opt8 = '8' |
| handy symbol for matching incoming communication
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const char | CMD_opt9 = '9' |
| handy symbol for matching incoming communication
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Constructor & Destructor Documentation
WalkControllerBehavior::WalkControllerBehavior |
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[inline] |
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Member Function Documentation
void WalkControllerBehavior::DoStart |
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[virtual] |
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void WalkControllerBehavior::DoStop |
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[virtual] |
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By default, subtracts from the reference counter (RemoveReference()), and thus may deletex if zero; Don't forget to still call this when you override this; Warning: call this at the end of your DoStop(), not beginning (it might delete this ).
Reimplemented from BehaviorBase.
Definition at line 102 of file WalkControllerBehavior.cc. |
std::string WalkControllerBehavior::getClassDescription |
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[inline, static] |
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Gives a short description of what this class of behaviors does... you should override this (but don't have to).
Reimplemented from BehaviorBase.
Definition at line 93 of file WalkControllerBehavior.h. |
virtual std::string WalkControllerBehavior::getName |
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const [inline, virtual] |
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virtual WalkMC* WalkControllerBehavior::getWalkMC |
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[inline, virtual] |
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int WalkControllerBehavior::mechacmd_callback |
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char * |
buf, |
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int |
bytes |
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[static] |
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virtual void WalkControllerBehavior::processEvent |
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const EventBase & |
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[inline, virtual] |
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void WalkControllerBehavior::runCommand |
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unsigned char * |
command |
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[private] |
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Member Data Documentation
The documentation for this class was generated from the following files:
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