LocomotionEvent Class Reference
#include <LocomotionEvent.h>
Inheritance diagram for LocomotionEvent:
Detailed Description
Gives updates regarding the current movement of the robot through the world.An activate event will be sent when a potential source of motion is created, and a deactivate when it is destroyed. Status events will be sent at any change of direction/speed.
The source ID field will hold the MotionManager::MC_ID of the sending MotionCommand
Definition at line 15 of file LocomotionEvent.h.
Public Member Functions | |
| virtual unsigned int | getClassTypeID () const |
| All subclasses should override this and return a unique ID for their class. | |
| LocomotionEvent & | setXYA (float X, float Y, float A) |
| Allows you to set the new X, Y, and A components. | |
| virtual std::string | getDescription (bool showTypeSpecific=true, unsigned int verbosity=0) const |
| generates a description of the event with variable verbosity | |
| virtual unsigned int | getBinSize () const |
| should return the minimum size needed if using binary format (i.e. not XML) | |
| virtual unsigned int | loadBinaryBuffer (const char buf[], unsigned int len) |
| load from binary format | |
| virtual unsigned int | saveBinaryBuffer (char buf[], unsigned int len) const |
| save to binary format | |
| virtual void | loadXML (xmlNode *node) |
| load from XML format | |
| virtual void | saveXML (xmlNode *node) const |
| save to XML format | |
Constructors | |
| LocomotionEvent () | |
| constructor | |
| LocomotionEvent (EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur=0) | |
| constructor | |
| LocomotionEvent (EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur, const std::string &n, float mag) | |
| constructor | |
| virtual EventBase * | clone () const |
| constructor | |
Public Attributes | |
| float | x |
| the new x component (body relative) | |
| float | y |
| the new y component (body relative) | |
| float | a |
| the new angular component (body relative) | |
Constructor & Destructor Documentation
| LocomotionEvent::LocomotionEvent | ( | ) | [inline] |
| LocomotionEvent::LocomotionEvent | ( | EventGeneratorID_t | gid, | |
| unsigned int | sid, | |||
| EventTypeID_t | tid, | |||
| unsigned int | dur = 0 | |||
| ) | [inline] |
| LocomotionEvent::LocomotionEvent | ( | EventGeneratorID_t | gid, | |
| unsigned int | sid, | |||
| EventTypeID_t | tid, | |||
| unsigned int | dur, | |||
| const std::string & | n, | |||
| float | mag | |||
| ) | [inline] |
Member Function Documentation
| virtual EventBase* LocomotionEvent::clone | ( | ) | const [inline, virtual] |
| unsigned int LocomotionEvent::getBinSize | ( | ) | const [virtual] |
should return the minimum size needed if using binary format (i.e. not XML)
Reimplemented from EventBase.
Definition at line 18 of file LocomotionEvent.cc.
| virtual unsigned int LocomotionEvent::getClassTypeID | ( | ) | const [inline, virtual] |
All subclasses should override this and return a unique ID for their class.
All IDs corresponding to all-capital letters are reserved for future framework expansion. (Thus, user subclasses should contain at least one lower-case letter.) This code can be used when serializing to allow quick identification of the class type by the receiver.
Reimplemented from EventBase.
Definition at line 27 of file LocomotionEvent.h.
| std::string LocomotionEvent::getDescription | ( | bool | showTypeSpecific = true, |
|
| unsigned int | verbosity = 0 | |||
| ) | const [virtual] |
generates a description of the event with variable verbosity
- Parameters:
-
showTypeSpecific should be read by subclasses to add additional information verbosity can be one of the following values: - 0 - Basic: event_name \t generator_id \t source_id \t type_id
- 1 - Numerics: event_name \t generator_id \t source_id \t type_id
- 2 - Timing: event_name \t generator_id \t source_id \t type_id \t duration \t timestamp
- 3 and above - Full: event_name \t generator_id \t source_id \t type_id \t duration \t timestamp \t magnitude if showTypeSpecific, additional fields will be added after the common fields listed above.
Reimplemented from EventBase.
Definition at line 9 of file LocomotionEvent.cc.
| unsigned int LocomotionEvent::loadBinaryBuffer | ( | const char | buf[], | |
| unsigned int | len | |||
| ) | [virtual] |
load from binary format
Reimplemented from EventBase.
Definition at line 31 of file LocomotionEvent.cc.
| void LocomotionEvent::loadXML | ( | xmlNode * | node | ) | [virtual] |
load from XML format
Reimplemented from EventBase.
Definition at line 53 of file LocomotionEvent.cc.
| unsigned int LocomotionEvent::saveBinaryBuffer | ( | char | buf[], | |
| unsigned int | len | |||
| ) | const [virtual] |
save to binary format
Reimplemented from EventBase.
Definition at line 42 of file LocomotionEvent.cc.
| void LocomotionEvent::saveXML | ( | xmlNode * | node | ) | const [virtual] |
| LocomotionEvent& LocomotionEvent::setXYA | ( | float | X, | |
| float | Y, | |||
| float | A | |||
| ) | [inline] |
Allows you to set the new X, Y, and A components.
Definition at line 30 of file LocomotionEvent.h.
Referenced by WalkMC::DoStart(), and WalkMC::updateOutputs().
Member Data Documentation
| float LocomotionEvent::a |
the new angular component (body relative)
Definition at line 47 of file LocomotionEvent.h.
Referenced by getBinSize(), getDescription(), loadBinaryBuffer(), loadXML(), saveBinaryBuffer(), saveXML(), setXYA(), and WorldStateVelDaemon::trapEvent().
| float LocomotionEvent::x |
the new x component (body relative)
Definition at line 45 of file LocomotionEvent.h.
Referenced by getBinSize(), getDescription(), loadBinaryBuffer(), loadXML(), saveBinaryBuffer(), saveXML(), setXYA(), and WorldStateVelDaemon::trapEvent().
| float LocomotionEvent::y |
the new y component (body relative)
Definition at line 46 of file LocomotionEvent.h.
Referenced by getBinSize(), getDescription(), loadBinaryBuffer(), loadXML(), saveBinaryBuffer(), saveXML(), setXYA(), and WorldStateVelDaemon::trapEvent().
The documentation for this class was generated from the following files:
