Reference

WalkCalibration Class Reference

#include <WalkCalibration.h>

Inheritance diagram for WalkCalibration:

Detailed Description

allows interactive calibration of a walk engine

In retrospect, this might have been a little easier to do as a ControlBase/StateNode multiple inheritance instead of ControlBase/EventListener... oh well.

Definition at line 17 of file WalkCalibration.h.

Public Member Functions

WalkCalibration ()

constructor

~WalkCalibration ()

destructor

virtual ControlBase * activate (MotionManager::MC_ID disp_id, Socket *gui)

virtual void refresh ()

called when the child has deactivated and this control should refresh its display, or some other event (such as the user pressing the refresh button) has happened to cause a refresh to be needed

virtual void deactivate ()

called when this control is being popped from the control stack

virtual ControlBase * doSelect ()

when the user has trigger an "open selection" - default is to return the hilighted control*/

virtual void processEvent (const EventBase &e)

listens for locomotion events so we know when to stop recording

virtual ControlBase * takeInput (const std::string &msg)

called when the user has supplied a text string (may or may not have been prompted by doReadStdIn()! May not even be active yet - the user can direct the same input to a set of hilighted menus)

virtual void setHilights (const std::vector< unsigned int > &hi)

sets the hilighted slots

virtual void hilightFirst ()

sets the hilight to the first non-null slot

Protected Types

enum {
  ROOT, CHOOSE, READY, MOVING,
  READING_1, READING_2, CLEAR
}

enum dataSource {
  fs, fr, sr, br,
  bs, r, NUM_SRC
}

allows representation of the current sample type More...

Protected Member Functions

void setupRoot ()

sets state to root menu

void setupChoose ()

sets state to choose type menu

void setupReady ()

sets state to ready menu

void setupMoving ()

sets state to moving menu

void setupReading1 ()

sets state to enter first measurement menu

void setupReading2 ()

sets state to enter second measurement menu

void setupClear ()

sets state to clear confirmation menu

unsigned int getType ()

returns current sample type

unsigned int getFirstIndex (dataSource t)

returns a name index for the first measurement type

unsigned int getSecondIndex (dataSource t)

returns a name index for the second measurement type

char * getIndexName (unsigned int t)

returns name for measurement type

char * getFirstMeasure (dataSource t)

returns name for first measurement type

char * getSecondMeasure (dataSource t)

returns name for second measurement type

float arclen (float d, float a, float sign)

calculates arc distance corresponding to a displacement and angle, negated if necessary to match sign

void addSample ()

adds data point corresponding to measurements stored in firstIn and secondIn

void addSample (std::vector< float * > &dat, float x, float y, float a)

adds data point to dat for a given x,y,a (and old_x, old_y, old_a)

Static Protected Member Functions

static void loadData (const std::string &name, std::vector< float * > &data)

does the work of loading data sets

static void saveData (const std::string &name, const std::vector< float * > &data)

does the work of saving data sets

static void clearData (std::vector< float * > &data)

clears current data

static void report (unsigned int row, float cmd, float actual)

reports data as they are being taken

static void err (const std::string &str)

pops up an error message on the controller and also displays it on the console

Protected Attributes

enum WalkCalibration:: { ... } st

the currently active state

enum WalkCalibration::dataSource curType

allows representation of the current sample type

float old_x

the x velocity recorded when we started moving

float old_y

the y velocity recorded when we started moving

float old_a

the a velocity recorded when we started moving

unsigned int startTime

the time recording started

unsigned int stopTime

the time recording stopped

ControlBase * help

control holding help info

FileInputControl * load

control for loading data

StringInputControl * save

control for saving data

ControlBase * measure

control for taking measurements

ControlBase * clear

control for clearing data

ToggleControl * polar

control for selecting polar measurements for fs/bs

ToggleControl * rect

control for selecting cartesian measurements for fs/bs

bool isPolar

true if polar measurements is selected

std::string lastLoad

name last data file selected (so we know if a new has been selected

float firstIn

the input given for the first measurement

float secondIn

the input given for the second measurement

std::vector< float * > data [NUM_SRC]

an array of vectors of sample points (one veotor for each of the sample types)

unsigned int cnts [NUM_SRC]

count of samples for each sample type (cnts[i] should equal data[i].size())

std::string status

string to send for ControllerGUI status message (current count of each sample type)

Static Protected Attributes

static char * datanames [NUM_SRC] = { "fs","fr","sr","br","bs","rr" }

name for each sample type

Private Member Functions

WalkCalibration (const WalkCalibration &)

don't call

WalkCalibration & operator= (const WalkCalibration &)

don't call

Member Enumeration Documentation

anonymous enum [protected]

Enumerator:

ROOT

CHOOSE

READY

MOVING

READING_1

READING_2

CLEAR

Definition at line 46 of file WalkCalibration.h.

enum WalkCalibration::dataSource [protected]

allows representation of the current sample type

Enumerator:

fs

fr

sr

br

bs

r

NUM_SRC

Definition at line 57 of file WalkCalibration.h.

Constructor & Destructor Documentation

WalkCalibration::WalkCalibration ( )

constructor

Definition at line 18 of file WalkCalibration.cc.

WalkCalibration::~WalkCalibration ( )

destructor

Definition at line 178 of file WalkCalibration.cc.

WalkCalibration::WalkCalibration ( const WalkCalibration & ) [private]

don't call

Member Function Documentation

ControlBase * WalkCalibration::activate ( MotionManager::MC_ID disp_id,

Socket * gui

) [virtual]

Definition at line 187 of file WalkCalibration.cc.

void WalkCalibration::addSample ( std::vector< float * > & dat,

float x,

float y,

float a

) [protected]

adds data point to dat for a given x,y,a (and old_x, old_y, old_a)

Definition at line 880 of file WalkCalibration.cc.

void WalkCalibration::addSample ( ) [protected]

adds data point corresponding to measurements stored in firstIn and secondIn

Definition at line 798 of file WalkCalibration.cc.
Referenced by takeInput().

float WalkCalibration::arclen ( float d,

float a,

float sign

) [protected]

calculates arc distance corresponding to a displacement and angle, negated if necessary to match sign

Definition at line 740 of file WalkCalibration.cc.
Referenced by addSample().

void WalkCalibration::clearData ( std::vector< float * > & data ) [static, protected]

clears current data

Definition at line 411 of file WalkCalibration.cc.
Referenced by doSelect(), and loadData().

virtual void WalkCalibration::deactivate ( ) [inline, virtual]

called when this control is being popped from the control stack

Reimplemented from ControlBase.
Definition at line 29 of file WalkCalibration.h.

ControlBase * WalkCalibration::doSelect ( ) [virtual]

when the user has trigger an "open selection" - default is to return the hilighted control*/
The value which is returned is then activate()ed and pushed on the Controller's stack
Reimplemented from ControlBase.
Definition at line 218 of file WalkCalibration.cc.

void WalkCalibration::err ( const std::string & str ) [static, protected]

pops up an error message on the controller and also displays it on the console

Definition at line 870 of file WalkCalibration.cc.
Referenced by loadData(), saveData(), setupMoving(), and takeInput().

unsigned int WalkCalibration::getFirstIndex ( dataSource t ) [protected]

returns a name index for the first measurement type

Definition at line 650 of file WalkCalibration.cc.
Referenced by setupChoose(), setupMoving(), and setupReady().

char * WalkCalibration::getFirstMeasure ( dataSource t ) [protected]

returns name for first measurement type

Definition at line 697 of file WalkCalibration.cc.
Referenced by processEvent(), setupReading1(), and takeInput().

char * WalkCalibration::getIndexName ( unsigned int t ) [protected]

returns name for measurement type

Definition at line 683 of file WalkCalibration.cc.
Referenced by setupChoose(), setupMoving(), and setupReady().

unsigned int WalkCalibration::getSecondIndex ( dataSource t ) [protected]

returns a name index for the second measurement type

Definition at line 667 of file WalkCalibration.cc.
Referenced by setupChoose(), setupMoving(), and setupReady().

char * WalkCalibration::getSecondMeasure ( dataSource t ) [protected]

returns name for second measurement type

Definition at line 721 of file WalkCalibration.cc.
Referenced by processEvent(), setupReading2(), and takeInput().

unsigned int WalkCalibration::getType ( ) [protected]

returns current sample type

void WalkCalibration::hilightFirst ( ) [virtual]

sets the hilight to the first non-null slot

Reimplemented from ControlBase.
Definition at line 351 of file WalkCalibration.cc.
Referenced by setupClear().

void WalkCalibration::loadData ( const std::string & name,

std::vector< float * > & data

) [static, protected]

does the work of loading data sets

Definition at line 365 of file WalkCalibration.cc.
Referenced by refresh().

WalkCalibration& WalkCalibration::operator= ( const WalkCalibration & ) [private]

don't call

void WalkCalibration::processEvent ( const EventBase & e ) [virtual]

listens for locomotion events so we know when to stop recording

Implements EventListener.
Definition at line 286 of file WalkCalibration.cc.

void WalkCalibration::refresh ( ) [virtual]

called when the child has deactivated and this control should refresh its display, or some other event (such as the user pressing the refresh button) has happened to cause a refresh to be needed

Reimplemented from ControlBase.
Definition at line 193 of file WalkCalibration.cc.
Referenced by doSelect(), processEvent(), and takeInput().

void WalkCalibration::report ( unsigned int row,

float cmd,

float actual

) [static, protected]

reports data as they are being taken

Definition at line 859 of file WalkCalibration.cc.
Referenced by addSample().

void WalkCalibration::saveData ( const std::string & name,

const std::vector< float * > & data

) [static, protected]

does the work of saving data sets

Definition at line 389 of file WalkCalibration.cc.
Referenced by refresh().

void WalkCalibration::setHilights ( const std::vector< unsigned int > & hi ) [virtual]

sets the hilighted slots

Reimplemented from ControlBase.
Definition at line 338 of file WalkCalibration.cc.

void WalkCalibration::setupChoose ( ) [protected]

sets state to choose type menu

Definition at line 429 of file WalkCalibration.cc.
Referenced by doSelect().

void WalkCalibration::setupClear ( ) [protected]

sets state to clear confirmation menu

Definition at line 638 of file WalkCalibration.cc.
Referenced by doSelect().

void WalkCalibration::setupMoving ( ) [protected]

sets state to moving menu

Definition at line 543 of file WalkCalibration.cc.
Referenced by doSelect().

void WalkCalibration::setupReading1 ( ) [protected]

sets state to enter first measurement menu

Definition at line 603 of file WalkCalibration.cc.
Referenced by processEvent().

void WalkCalibration::setupReading2 ( ) [protected]

sets state to enter second measurement menu

Definition at line 620 of file WalkCalibration.cc.
Referenced by setupReading1(), and takeInput().

void WalkCalibration::setupReady ( ) [protected]

sets state to ready menu

Definition at line 453 of file WalkCalibration.cc.
Referenced by doSelect(), and takeInput().

void WalkCalibration::setupRoot ( ) [protected]

sets state to root menu

Definition at line 417 of file WalkCalibration.cc.
Referenced by doSelect(), and WalkCalibration().

ControlBase * WalkCalibration::takeInput ( const std::string & msg ) [virtual]

called when the user has supplied a text string (may or may not have been prompted by doReadStdIn()! May not even be active yet - the user can direct the same input to a set of hilighted menus)
The value which is returned is then activate()ed and pushed on the Controller's stack
Reimplemented from ControlBase.
Definition at line 301 of file WalkCalibration.cc.

Member Data Documentation

ControlBase* WalkCalibration::clear [protected]

control for clearing data

Definition at line 102 of file WalkCalibration.h.
Referenced by doSelect(), setupRoot(), WalkCalibration(), and ~WalkCalibration().

unsigned int WalkCalibration::cnts[NUM_SRC] [protected]

count of samples for each sample type (cnts[i] should equal data[i].size())

Definition at line 111 of file WalkCalibration.h.
Referenced by addSample(), doSelect(), refresh(), setupClear(), and WalkCalibration().

enum WalkCalibration::dataSource WalkCalibration::curType [protected]

allows representation of the current sample type

Referenced by addSample(), doSelect(), processEvent(), refresh(), setupMoving(), setupReading1(), setupReading2(), setupReady(), and takeInput().

std::vector<float*> WalkCalibration::data[NUM_SRC] [protected]

an array of vectors of sample points (one veotor for each of the sample types)

Definition at line 110 of file WalkCalibration.h.
Referenced by addSample(), doSelect(), and refresh().

char * WalkCalibration::datanames = { "fs","fr","sr","br","bs","rr" } [static, protected]

name for each sample type

Definition at line 112 of file WalkCalibration.h.
Referenced by refresh().

float WalkCalibration::firstIn [protected]

the input given for the first measurement

Definition at line 108 of file WalkCalibration.h.
Referenced by addSample(), and takeInput().

ControlBase* WalkCalibration::help [protected]

control holding help info

Definition at line 98 of file WalkCalibration.h.
Referenced by setupRoot(), WalkCalibration(), and ~WalkCalibration().

bool WalkCalibration::isPolar [protected]

true if polar measurements is selected

Definition at line 105 of file WalkCalibration.h.
Referenced by addSample(), getFirstMeasure(), getSecondMeasure(), refresh(), and setupReady().

std::string WalkCalibration::lastLoad [protected]

name last data file selected (so we know if a new has been selected

Definition at line 106 of file WalkCalibration.h.
Referenced by refresh().

FileInputControl* WalkCalibration::load [protected]

control for loading data

Definition at line 99 of file WalkCalibration.h.
Referenced by refresh(), setupRoot(), WalkCalibration(), and ~WalkCalibration().

ControlBase* WalkCalibration::measure [protected]

control for taking measurements

Definition at line 101 of file WalkCalibration.h.
Referenced by doSelect(), setupRoot(), WalkCalibration(), and ~WalkCalibration().

float WalkCalibration::old_a [protected]

the a velocity recorded when we started moving

Definition at line 94 of file WalkCalibration.h.
Referenced by addSample(), and setupMoving().

float WalkCalibration::old_x [protected]

the x velocity recorded when we started moving

Definition at line 92 of file WalkCalibration.h.
Referenced by addSample(), and setupMoving().

float WalkCalibration::old_y [protected]

the y velocity recorded when we started moving

Definition at line 93 of file WalkCalibration.h.
Referenced by addSample(), and setupMoving().

ToggleControl* WalkCalibration::polar [protected]

control for selecting polar measurements for fs/bs

Definition at line 103 of file WalkCalibration.h.
Referenced by doSelect(), refresh(), setHilights(), and setupReady().

ToggleControl* WalkCalibration::rect [protected]

control for selecting cartesian measurements for fs/bs

Definition at line 104 of file WalkCalibration.h.
Referenced by doSelect(), setHilights(), and setupReady().

StringInputControl* WalkCalibration::save [protected]

control for saving data

Definition at line 100 of file WalkCalibration.h.
Referenced by refresh(), setupRoot(), WalkCalibration(), and ~WalkCalibration().

float WalkCalibration::secondIn [protected]

the input given for the second measurement

Definition at line 109 of file WalkCalibration.h.
Referenced by addSample(), and takeInput().

enum { ... } WalkCalibration::st [protected]

the currently active state

Referenced by doSelect(), hilightFirst(), processEvent(), refresh(), setHilights(), setupChoose(), setupClear(), setupMoving(), setupReading1(), setupReading2(), setupReady(), setupRoot(), and takeInput().

unsigned int WalkCalibration::startTime [protected]

the time recording started

Definition at line 95 of file WalkCalibration.h.
Referenced by addSample(), processEvent(), and setupMoving().

std::string WalkCalibration::status [protected]

string to send for ControllerGUI status message (current count of each sample type)

Definition at line 114 of file WalkCalibration.h.
Referenced by refresh(), setupClear(), and setupRoot().

unsigned int WalkCalibration::stopTime [protected]

the time recording stopped

Definition at line 96 of file WalkCalibration.h.
Referenced by addSample(), and processEvent().

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

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