Reference

UPennWalkMC Class Reference

#include <UPennWalkMC.h>

Inheritance diagram for UPennWalkMC:

Detailed Description

Uses the UPennalizers' 2004 RoboCup code to compute walking gaits.

This class is ported from University of Pennsylvania's 2004 Robosoccer entry, and falls under their license: ========================================================================= This software is distributed under the GNU General Public License, version 2. If you do not have a copy of this licence, visit www.gnu.org, or write: Free Software Foundation, 59 Temple Place, Suite 330 Boston, MA 02111-1307 USA. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY, including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. =========================================================================

Definition at line 20 of file UPennWalkMC.h.

Public Member Functions

UPennWalkMC ()

constructor

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 int isDirty ()

not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful

virtual int isAlive ()

used to prune "dead" motions from the MotionManager

void setTargetVelocity (float x, float y, float a)

Protected Member Functions

void SetLegJoints (double *x)

void SetStanceParameters (double bodyTilt, double shoulderHeight, double foreX0, double foreY0, double hindX0, double hindY0)

void SetWalkSpeeds (int quarterPeriod, double maxDistance, double foreLiftInitial, double foreLiftFinal, double hindLiftInitial, double hindLiftFinal)

void SetWalkWorkspace (double foreXMin, double foreXMax, double foreYMin, double foreYMax, double hindXMin, double hindXMax, double hindYMin, double hindYMax)

void LegPositionsToAngles (double *a)

Calculate 12 leg joint angles from leg positions.

void StandLegs (double x=0, double y=0, double z=0)

int GetWalkPhase ()

void SetWalkPhase (int phase)

void WalkLegs (double xWalk=0.0, double yWalk=0.0, double aWalk=0.0)

Static Protected Member Functions

static double clip (double x, double min=-1.0, double max=1.0)

Protected Attributes

float xVel

float yVel

float aVel

double body_tilt

double shoulder_height

double fore_x0

double fore_y0

double hind_x0

double hind_y0

int walk_phase

int walk_phase_direction

int walk_quarter_period

double walk_max_distance

double walk_fore_lift_initial

double walk_fore_lift_final

double walk_hind_lift_initial

double walk_hind_lift_final

double walk_current_x [NumLegs]

double walk_current_y [NumLegs]

double walk_fore_xmin

double walk_fore_xmax

double walk_fore_ymin

double walk_fore_ymax

double walk_hind_xmin

double walk_hind_xmax

double walk_hind_ymin

double walk_hind_ymax

Constructor & Destructor Documentation

UPennWalkMC::UPennWalkMC ( )

constructor

Definition at line 138 of file UPennWalkMC.cc.

Member Function Documentation

static double UPennWalkMC::clip	(	double	x,
		double	min = `-1.0`,
		double	max = `1.0`
	)			`[inline, static, protected]`

Definition at line 41 of file UPennWalkMC.h.

Referenced by LegPositionsToAngles(), and WalkLegs().

int UPennWalkMC::GetWalkPhase ( ) [protected]

Definition at line 376 of file UPennWalkMC.cc.

virtual int UPennWalkMC::isAlive ( ) [inline, virtual]

used to prune "dead" motions from the MotionManager

note that a motion could be "paused" or inactive and therefore not dirty, but still alive, biding its time to "strike" ;)

Returns:: zero if the motion is still processing, non-zero otherwise

Implements MotionCommand.

Definition at line 34 of file UPennWalkMC.h.

virtual int UPennWalkMC::isDirty ( ) [inline, virtual]

not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful

Returns:: zero if none of the commands have changed since last getJointCmd(), else non-zero

Implements MotionCommand.

Definition at line 33 of file UPennWalkMC.h.

void UPennWalkMC::LegPositionsToAngles ( double * a ) [protected]

Calculate 12 leg joint angles from leg positions.

Note positions are relative to stance parameters so all zero inputs -> stance angles

Definition at line 223 of file UPennWalkMC.cc.

Referenced by StandLegs(), and WalkLegs().

void UPennWalkMC::SetLegJoints ( double * x ) [protected]

Definition at line 161 of file UPennWalkMC.cc.

Referenced by StandLegs(), and WalkLegs().

void UPennWalkMC::SetStanceParameters	(	double	bodyTilt,
		double	shoulderHeight,
		double	foreX0,
		double	foreY0,
		double	hindX0,
		double	hindY0
	)			`[protected]`

Definition at line 180 of file UPennWalkMC.cc.

void UPennWalkMC::setTargetVelocity	(	float	x,
		float	y,
		float	a
	)			`[inline]`

Definition at line 36 of file UPennWalkMC.h.

void UPennWalkMC::SetWalkPhase ( int phase ) [protected]

Definition at line 381 of file UPennWalkMC.cc.

void UPennWalkMC::SetWalkSpeeds	(	int	quarterPeriod,
		double	maxDistance,
		double	foreLiftInitial,
		double	foreLiftFinal,
		double	hindLiftInitial,
		double	hindLiftFinal
	)			`[protected]`

Definition at line 192 of file UPennWalkMC.cc.

void UPennWalkMC::SetWalkWorkspace	(	double	foreXMin,
		double	foreXMax,
		double	foreYMin,
		double	foreYMax,
		double	hindXMin,
		double	hindXMax,
		double	hindYMin,
		double	hindYMax
	)			`[protected]`